From 6bd1145006131570acff56b880516827a41909dd Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Tue, 5 Dec 2023 11:47:43 +0100
Subject: [PATCH] ekf2: scope RngCtrl enum

---
 src/modules/ekf2/EKF/common.h                          | 4 ++--
 src/modules/ekf2/EKF/estimator_interface.cpp           | 2 +-
 src/modules/ekf2/EKF/range_height_control.cpp          | 8 ++++----
 src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp | 4 ++--
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h
index d6bb2ad52b..0f23bd66fe 100644
--- a/src/modules/ekf2/EKF/common.h
+++ b/src/modules/ekf2/EKF/common.h
@@ -141,7 +141,7 @@ enum class GnssCtrl : uint8_t {
 	YAW  = (1<<3)
 };
 
-enum RngCtrl : uint8_t {
+enum class RngCtrl : uint8_t {
 	DISABLED    = 0,
 	CONDITIONAL = 1,
 	ENABLED     = 2
@@ -418,7 +418,7 @@ struct parameters {
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	// range finder fusion
-	int32_t rng_ctrl{RngCtrl::CONDITIONAL};
+	int32_t rng_ctrl{static_cast<int32_t>(RngCtrl::CONDITIONAL)};
 
 	float range_delay_ms{5.0f};             ///< range finder measurement delay relative to the IMU (mSec)
 	float range_noise{0.1f};                ///< observation noise for range finder measurements (m)
diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index 19c555202a..f7d78de836 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -586,7 +586,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	// using range finder
-	if ((_params.rng_ctrl != RngCtrl::DISABLED)) {
+	if ((_params.rng_ctrl != static_cast<int32_t>(RngCtrl::DISABLED))) {
 		max_time_delay_ms = math::max(_params.range_delay_ms, max_time_delay_ms);
 	}
 #endif // CONFIG_EKF2_RANGE_FINDER
diff --git a/src/modules/ekf2/EKF/range_height_control.cpp b/src/modules/ekf2/EKF/range_height_control.cpp
index 177b841393..8fede499e5 100644
--- a/src/modules/ekf2/EKF/range_height_control.cpp
+++ b/src/modules/ekf2/EKF/range_height_control.cpp
@@ -121,8 +121,8 @@ void Ekf::controlRangeHeightFusion()
 		}
 
 		// determine if we should use height aiding
-		const bool do_conditional_range_aid = (_params.rng_ctrl == RngCtrl::CONDITIONAL) && isConditionalRangeAidSuitable();
-		const bool continuing_conditions_passing = ((_params.rng_ctrl == RngCtrl::ENABLED) || do_conditional_range_aid)
+		const bool do_conditional_range_aid = (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL)) && isConditionalRangeAidSuitable();
+		const bool continuing_conditions_passing = ((_params.rng_ctrl == static_cast<int32_t>(RngCtrl::ENABLED)) || do_conditional_range_aid)
 				&& measurement_valid
 				&& _range_sensor.isDataHealthy();
 
@@ -165,13 +165,13 @@ void Ekf::controlRangeHeightFusion()
 
 		} else {
 			if (starting_conditions_passing) {
-				if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl == RngCtrl::CONDITIONAL)) {
+				if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE)) && (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))) {
 					// Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference.
 					ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME);
 					_height_sensor_ref = HeightSensor::RANGE;
 					bias_est.setBias(_state.pos(2) + measurement);
 
-				} else if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl != RngCtrl::CONDITIONAL)) {
+				} else if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE)) && (_params.rng_ctrl != static_cast<int32_t>(RngCtrl::CONDITIONAL))) {
 					// Range finder is the primary height source, the ground is now the datum used
 					// to compute the local vertical position
 					ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME);
diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
index 73a6c2b8e1..94a9c1aca4 100644
--- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
@@ -57,12 +57,12 @@ void EkfWrapper::setRangeHeightRef()
 
 void EkfWrapper::enableRangeHeightFusion()
 {
-	_ekf_params->rng_ctrl = RngCtrl::ENABLED;
+	_ekf_params->rng_ctrl = static_cast<int32_t>(RngCtrl::ENABLED);
 }
 
 void EkfWrapper::disableRangeHeightFusion()
 {
-	_ekf_params->rng_ctrl = RngCtrl::DISABLED;
+	_ekf_params->rng_ctrl = static_cast<int32_t>(RngCtrl::DISABLED);
 }
 
 bool EkfWrapper::isIntendingRangeHeightFusion() const