From 2dbce4d958b26b030a983fbc47b35e3b4cd49f20 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Wed, 21 May 2025 15:56:40 +0200
Subject: [PATCH] ekf2: replace defines with enum class

---
 .../ekf2/EKF/aid_sources/gnss/gps_checks.cpp  | 35 ++++++++-----------
 src/modules/ekf2/EKF/ekf.h                    | 15 ++++++++
 2 files changed, 29 insertions(+), 21 deletions(-)

diff --git a/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp
index cf28524c79..c1e37e0893 100644
--- a/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp
@@ -43,17 +43,10 @@
 
 #include <mathlib/mathlib.h>
 
-// GPS pre-flight check bit locations
-#define MASK_GPS_NSATS   (1<<0)
-#define MASK_GPS_PDOP    (1<<1)
-#define MASK_GPS_HACC    (1<<2)
-#define MASK_GPS_VACC    (1<<3)
-#define MASK_GPS_SACC    (1<<4)
-#define MASK_GPS_HDRIFT  (1<<5)
-#define MASK_GPS_VDRIFT  (1<<6)
-#define MASK_GPS_HSPD    (1<<7)
-#define MASK_GPS_VSPD    (1<<8)
-#define MASK_GPS_SPOOFED (1<<9)
+bool Ekf::isGnssCheckEnabled(GnssChecksMask check)
+{
+	return (_params.gps_check_mask & static_cast<int32_t>(check));
+}
 
 bool Ekf::runGnssChecks(const gnssSample &gnss)
 {
@@ -99,16 +92,16 @@ bool Ekf::runGnssChecks(const gnssSample &gnss)
 	// if any user selected checks have failed, record the fail time
 	if (
 		_gps_check_fail_status.flags.fix ||
-		(_gps_check_fail_status.flags.nsats   && (_params.gps_check_mask & MASK_GPS_NSATS)) ||
-		(_gps_check_fail_status.flags.pdop    && (_params.gps_check_mask & MASK_GPS_PDOP)) ||
-		(_gps_check_fail_status.flags.hacc    && (_params.gps_check_mask & MASK_GPS_HACC)) ||
-		(_gps_check_fail_status.flags.vacc    && (_params.gps_check_mask & MASK_GPS_VACC)) ||
-		(_gps_check_fail_status.flags.sacc    && (_params.gps_check_mask & MASK_GPS_SACC)) ||
-		(_gps_check_fail_status.flags.hdrift  && (_params.gps_check_mask & MASK_GPS_HDRIFT)) ||
-		(_gps_check_fail_status.flags.vdrift  && (_params.gps_check_mask & MASK_GPS_VDRIFT)) ||
-		(_gps_check_fail_status.flags.hspeed  && (_params.gps_check_mask & MASK_GPS_HSPD)) ||
-		(_gps_check_fail_status.flags.vspeed  && (_params.gps_check_mask & MASK_GPS_VSPD)) ||
-		(_gps_check_fail_status.flags.spoofed && (_params.gps_check_mask & MASK_GPS_SPOOFED))
+		(_gps_check_fail_status.flags.nsats   && isGnssCheckEnabled(GnssChecksMask::kNsats)) ||
+		(_gps_check_fail_status.flags.pdop    && isGnssCheckEnabled(GnssChecksMask::kPdop)) ||
+		(_gps_check_fail_status.flags.hacc    && isGnssCheckEnabled(GnssChecksMask::kHacc)) ||
+		(_gps_check_fail_status.flags.vacc    && isGnssCheckEnabled(GnssChecksMask::kVacc)) ||
+		(_gps_check_fail_status.flags.sacc    && isGnssCheckEnabled(GnssChecksMask::kSacc)) ||
+		(_gps_check_fail_status.flags.hdrift  && isGnssCheckEnabled(GnssChecksMask::kHdrift)) ||
+		(_gps_check_fail_status.flags.vdrift  && isGnssCheckEnabled(GnssChecksMask::kVdrift)) ||
+		(_gps_check_fail_status.flags.hspeed  && isGnssCheckEnabled(GnssChecksMask::kHspd)) ||
+		(_gps_check_fail_status.flags.vspeed  && isGnssCheckEnabled(GnssChecksMask::kVspd)) ||
+		(_gps_check_fail_status.flags.spoofed && isGnssCheckEnabled(GnssChecksMask::kSpoofed))
 	) {
 		_last_gps_fail_us = _time_delayed_us;
 		return false;
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index 8f40beae2a..dc5a40d707 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -883,6 +883,21 @@ private:
 	 * Checks are adjusted using the EKF2_REQ_* parameters
 	*/
 	bool runGnssChecks(const gnssSample &gps);
+
+	enum class GnssChecksMask : int32_t {
+		kNsats   = (1 << 0),
+		kPdop    = (1 << 1),
+		kHacc    = (1 << 2),
+		kVacc    = (1 << 3),
+		kSacc    = (1 << 4),
+		kHdrift  = (1 << 5),
+		kVdrift  = (1 << 6),
+		kHspd    = (1 << 7),
+		kVspd    = (1 << 8),
+		kSpoofed = (1 << 9)
+	};
+
+	bool isGnssCheckEnabled(GnssChecksMask check);
 	void runOnGroundGnssChecks(const gnssSample &gnss);
 
 	void controlGnssHeightFusion(const gnssSample &gps_sample);