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vtol/fw/mc: fix VTOL enum shadowing

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This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.

This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.

This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
This commit is contained in:
Julian Oes
2019-05-29 16:05:28 +02:00
committed by Daniel Agar
parent 4b3f68f90c
commit 2ac8841f35
10 changed files with 72 additions and 72 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -2
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@@ -432,7 +432,7 @@ FixedwingPositionControl::vehicle_attitude_poll()
// if the vehicle is a tailsitter we have to rotate the attitude by the pitch offset
// between multirotor and fixed wing flight
if (_parameters.vtol_type == vtol_type::TAILSITTER && _vehicle_status.is_vtol) {
if (static_cast<vtol_type>(_parameters.vtol_type) == vtol_type::TAILSITTER && _vehicle_status.is_vtol) {
Dcmf R_offset = Eulerf(0, M_PI_2_F, 0);
_R_nb = _R_nb * R_offset;
}
@@ -2004,7 +2004,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
// tailsitters use the multicopter frame as reference, in fixed wing
// we need to use the fixed wing frame
if (_parameters.vtol_type == vtol_type::TAILSITTER && _vehicle_status.is_vtol) {
if (static_cast<vtol_type>(_parameters.vtol_type) == vtol_type::TAILSITTER && _vehicle_status.is_vtol) {
float tmp = accel_body(0);
accel_body(0) = -accel_body(2);
accel_body(2) = tmp;