diff --git a/ArduSub/control_acro.cpp b/ArduSub/control_acro.cpp
index 4884d5cc81..48047f4a43 100644
--- a/ArduSub/control_acro.cpp
+++ b/ArduSub/control_acro.cpp
@@ -26,13 +26,13 @@ void Sub::acro_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
         return;
     }
 
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // convert the input to the desired body frame rate
     get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
diff --git a/ArduSub/control_althold.cpp b/ArduSub/control_althold.cpp
index a5e14a477b..2a95aab69d 100644
--- a/ArduSub/control_althold.cpp
+++ b/ArduSub/control_althold.cpp
@@ -37,7 +37,7 @@ void Sub::althold_run()
     pos_control.set_max_accel_z(g.pilot_accel_z);
 
     if (!motors.armed()) {
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
@@ -46,7 +46,7 @@ void Sub::althold_run()
         return;
     }
 
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // get pilot desired lean angles
     float target_roll, target_pitch;
diff --git a/ArduSub/control_auto.cpp b/ArduSub/control_auto.cpp
index d12b05c657..e538f6f271 100644
--- a/ArduSub/control_auto.cpp
+++ b/ArduSub/control_auto.cpp
@@ -117,7 +117,7 @@ void Sub::auto_wp_run()
         //    (of course it would be better if people just used take-off)
         // call attitude controller
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
         return;
@@ -134,7 +134,7 @@ void Sub::auto_wp_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // run waypoint controller
     // TODO logic for terrain tracking target going below fence limit
@@ -203,7 +203,7 @@ void Sub::auto_spline_run()
         // To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off
         //    (of course it would be better if people just used take-off)
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
         return;
@@ -220,7 +220,7 @@ void Sub::auto_spline_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // run waypoint controller
     wp_nav.update_spline();
@@ -389,7 +389,7 @@ void Sub::auto_loiter_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
@@ -404,7 +404,7 @@ void Sub::auto_loiter_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // run waypoint and z-axis position controller
     failsafe_terrain_set_status(wp_nav.update_wpnav());
@@ -675,7 +675,7 @@ void Sub::auto_terrain_recover_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
         return;
diff --git a/ArduSub/control_circle.cpp b/ArduSub/control_circle.cpp
index 07cf4d7597..7f2248bbde 100644
--- a/ArduSub/control_circle.cpp
+++ b/ArduSub/control_circle.cpp
@@ -41,7 +41,7 @@ void Sub::circle_run()
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         // To-Do: add some initialisation of position controllers
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
@@ -60,7 +60,7 @@ void Sub::circle_run()
     target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // run circle controller
     circle_nav.update();
diff --git a/ArduSub/control_guided.cpp b/ArduSub/control_guided.cpp
index 17ee7e5876..a6cda2fa94 100644
--- a/ArduSub/control_guided.cpp
+++ b/ArduSub/control_guided.cpp
@@ -291,7 +291,7 @@ void Sub::guided_pos_control_run()
 {
     // if motors not enabled set throttle to zero and exit immediately
     if (!motors.armed()) {
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
@@ -309,7 +309,7 @@ void Sub::guided_pos_control_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // run waypoint controller
     failsafe_terrain_set_status(wp_nav.update_wpnav());
@@ -342,7 +342,7 @@ void Sub::guided_vel_control_run()
     if (!motors.armed()) {
         // initialise velocity controller
         pos_control.init_vel_controller_xyz();
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
@@ -360,7 +360,7 @@ void Sub::guided_vel_control_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // set velocity to zero if no updates received for 3 seconds
     uint32_t tnow = AP_HAL::millis();
@@ -397,7 +397,7 @@ void Sub::guided_posvel_control_run()
         // set target position and velocity to current position and velocity
         pos_control.set_pos_target(inertial_nav.get_position());
         pos_control.set_desired_velocity(Vector3f(0,0,0));
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
@@ -416,7 +416,7 @@ void Sub::guided_posvel_control_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // set velocity to zero if no updates received for 3 seconds
     uint32_t tnow = AP_HAL::millis();
@@ -467,7 +467,7 @@ void Sub::guided_angle_control_run()
 {
     // if motors not enabled set throttle to zero and exit immediately
     if (!motors.armed()) {
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
         attitude_control.set_throttle_out(0.0f,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
@@ -501,7 +501,7 @@ void Sub::guided_angle_control_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // call attitude controller
     attitude_control.input_euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true);
diff --git a/ArduSub/control_manual.cpp b/ArduSub/control_manual.cpp
index baeb646cd8..b68521abc2 100644
--- a/ArduSub/control_manual.cpp
+++ b/ArduSub/control_manual.cpp
@@ -19,13 +19,13 @@ void Sub::manual_run()
 {
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
         return;
     }
 
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     motors.set_roll(channel_roll->norm_input());
     motors.set_pitch(channel_pitch->norm_input());
diff --git a/ArduSub/control_poshold.cpp b/ArduSub/control_poshold.cpp
index 45d7dae2f8..4ad303d3e7 100644
--- a/ArduSub/control_poshold.cpp
+++ b/ArduSub/control_poshold.cpp
@@ -40,7 +40,7 @@ void Sub::poshold_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         loiter_nav.clear_pilot_desired_acceleration();
         loiter_nav.init_target();
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
@@ -50,7 +50,7 @@ void Sub::poshold_run()
     }
 
     // set motors to full range
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // run loiter controller
     loiter_nav.update();
diff --git a/ArduSub/control_stabilize.cpp b/ArduSub/control_stabilize.cpp
index 7963cf674b..ad0118a200 100644
--- a/ArduSub/control_stabilize.cpp
+++ b/ArduSub/control_stabilize.cpp
@@ -20,14 +20,14 @@ void Sub::stabilize_run()
 
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
         last_pilot_heading = ahrs.yaw_sensor;
         return;
     }
 
-    motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
+    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // convert pilot input to lean angles
     // To-Do: convert get_pilot_desired_lean_angles to return angles as floats
diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp
index 924a0fbf06..e6ffe645a6 100644
--- a/ArduSub/control_surface.cpp
+++ b/ArduSub/control_surface.cpp
@@ -27,7 +27,7 @@ void Sub::surface_run()
     // if not armed set throttle to zero and exit immediately
     if (!motors.armed()) {
         motors.output_min();
-        motors.set_desired_spool_state(AP_Motors::DESIRED_GROUND_IDLE);
+        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
         attitude_control.set_throttle_out(0,true,g.throttle_filt);
         attitude_control.relax_attitude_controllers();
         return;