- fixed bad pitch setpoint in fw pos controller for tailsitter

- created enum for vtol types
- minor cleanup and fixes

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -134,15 +134,15 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	/* fetch initial parameter values */
 	parameters_update();
 
-	if (_params.vtol_type == 0) {
+	if (_params.vtol_type == vtol_type::TAILSITTER) {
 		_tailsitter = new Tailsitter(this);
 		_vtol_type = _tailsitter;
 
-	} else if (_params.vtol_type == 1) {
+	} else if (_params.vtol_type == vtol_type::TILTROTOR) {
 		_tiltrotor = new Tiltrotor(this);
 		_vtol_type = _tiltrotor;
 
-	} else if (_params.vtol_type == 2) {
+	} else if (_params.vtol_type == vtol_type::STANDARD) {
 		_standard = new Standard(this);
 		_vtol_type = _standard;
 

src/modules/vtol_att_control/vtol_type.cpp

@@ -150,7 +150,6 @@ void VtolType::update_fw_state()
 {
 	// copy virtual attitude setpoint to real attitude setpoint
 	memcpy(_v_att_sp, _fw_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
-
 	_mc_roll_weight = 0.0f;
 	_mc_pitch_weight = 0.0f;
 	_mc_yaw_weight = 0.0f;

src/modules/vtol_att_control/vtol_type.h

@@ -68,6 +68,12 @@ enum mode {
 	EXTERNAL
 };
 
+enum vtol_type {
+	TAILSITTER = 0,
+	TILTROTOR,
+	STANDARD
+};
+
 class VtolAttitudeControl;
 
 class VtolType