mixer: use an enum for airmode

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -116,7 +116,7 @@ static void subscribe();
 
 static void task_main(int argc, char *argv[]);
 
-static void update_params(int32_t &airmode);
+static void update_params(Mixer::Airmode &airmode);
 
 /* mixer initialization */
 int initialize_mixer(const char *mixer_filename);
@@ -135,7 +135,7 @@ int mixer_control_callback(uintptr_t handle,
 }
 
 
-void update_params(int32_t &airmode)
+void update_params(Mixer::Airmode &airmode)
 {
 	// multicopter air-mode
 	param_t param_handle = param_find("MC_AIRMODE");
@@ -255,7 +255,7 @@ void task_main(int argc, char *argv[])
 	// subscribe and set up polling
 	subscribe();
 
-	int32_t airmode = false;
+	Mixer::Airmode airmode = Mixer::Airmode::disabled;
 	update_params(airmode);
 	int params_sub = orb_subscribe(ORB_ID(parameter_update));
 

src/drivers/pwm_out_sim/PWMSim.hpp

@@ -131,7 +131,7 @@ private:
 	actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
 	orb_id_t	_control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
 
-	int32_t 	_airmode{0}; 	///< multicopter air-mode
+	Mixer::Airmode 	_airmode{Mixer::Airmode::disabled}; 	///< multicopter air-mode
 
 	perf_counter_t	_perf_control_latency;
 

src/drivers/px4fmu/fmu.cpp

@@ -237,7 +237,7 @@ private:
 
 	float _mot_t_max;	///< maximum rise time for motor (slew rate limiting)
 	float _thr_mdl_fac;	///< thrust to pwm modelling factor
-	int32_t _airmode;	///< multicopter air-mode
+	Mixer::Airmode _airmode;	///< multicopter air-mode
 	MotorOrdering _motor_ordering;
 
 	perf_counter_t	_perf_control_latency;
@@ -321,7 +321,7 @@ PX4FMU::PX4FMU(bool run_as_task) :
 	_to_mixer_status(nullptr),
 	_mot_t_max(0.0f),
 	_thr_mdl_fac(0.0f),
-	_airmode(0),
+	_airmode(Mixer::Airmode::disabled),
 	_motor_ordering(MotorOrdering::PX4),
 	_perf_control_latency(perf_alloc(PC_ELAPSED, "fmu control latency"))
 {

src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp

@@ -138,7 +138,7 @@ static void subscribe();
 
 static void task_main(int argc, char *argv[]);
 
-static void update_params(int32_t &airmode);
+static void update_params(Mixer::Airmode &airmode);
 
 int initialize_mixer(const char *mixer_filename);
 
@@ -162,7 +162,7 @@ int mixer_control_callback(uintptr_t handle,
 	return 0;
 }
 
-void update_params(int32_t &airmode)
+void update_params(Mixer::Airmode &airmode)
 {
 	// multicopter air-mode
 	param_t param_handle = param_find("MC_AIRMODE");
@@ -355,7 +355,7 @@ void task_main(int argc, char *argv[])
 	// subscribe and set up polling
 	subscribe();
 
-	int32_t airmode = 0;
+	Mixer::Airmode airmode = Mixer::Airmode::disabled;
 	update_params(airmode);
 	int params_sub = orb_subscribe(ORB_ID(parameter_update));
 

src/drivers/tap_esc/tap_esc.cpp

@@ -141,7 +141,7 @@ private:
 	EscPacket 	_packet = {};
 
 	DEFINE_PARAMETERS(
-		(ParamBool<px4::params::MC_AIRMODE>) _airmode   ///< multicopter air-mode
+		(ParamInt<px4::params::MC_AIRMODE>) _airmode   ///< multicopter air-mode
 	)
 
 	void subscribe();
@@ -420,7 +420,7 @@ void TAP_ESC::cycle()
 	}
 
 	if (_mixers) {
-		_mixers->set_airmode(_airmode.get());
+		_mixers->set_airmode((Mixer::Airmode)_airmode.get());
 	}
 
 	/* check if anything updated */

src/drivers/uavcan/uavcan_main.hpp

@@ -210,7 +210,7 @@ private:
 
 	perf_counter_t			_perf_control_latency;
 
-	int32_t 			_airmode = 0;
+	Mixer::Airmode 			_airmode = Mixer::Airmode::disabled;
 
 	// index into _poll_fds for each _control_subs handle
 	uint8_t				_poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];