FlightTaskAuto: remove WaypointType enum abstraction

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -111,29 +111,29 @@ bool FlightTaskAuto::update()
 	// The only time a thrust set-point is sent out is during
 	// idle. Hence, reset thrust set-point to NAN in case the
 	// vehicle exits idle.
-	if (_type_previous == WaypointType::idle) {
+	if (_type_previous == position_setpoint_s::SETPOINT_TYPE_IDLE) {
 		_acceleration_setpoint.setNaN();
 	}
 
 	// during mission and reposition, raise the landing gears but only
 	// if altitude is high enough
-	if (_highEnoughForLandingGear()) {
+	if (_dist_to_ground > 2.f) {
 		_gear.landing_gear = landing_gear_s::GEAR_UP;
 	}
 
 	switch (_type) {
-	case WaypointType::idle:
+	case position_setpoint_s::SETPOINT_TYPE_IDLE:
 		// Send zero thrust setpoint
 		_position_setpoint.setNaN(); // Don't require any position/velocity setpoints
 		_velocity_setpoint.setNaN();
 		_acceleration_setpoint = Vector3f(0.f, 0.f, 100.f); // High downwards acceleration to make sure there's no thrust
 		break;
 
-	case WaypointType::land:
+	case position_setpoint_s::SETPOINT_TYPE_LAND:
 		_prepareLandSetpoints();
 		break;
 
-	case WaypointType::velocity:
+	case position_setpoint_s::SETPOINT_TYPE_VELOCITY:
 		// XY Velocity waypoint
 		// TODO : Rewiew that. What is the expected behavior?
 		_position_setpoint = Vector3f(NAN, NAN, _position(2));
@@ -141,14 +141,14 @@ bool FlightTaskAuto::update()
 		_velocity_setpoint(2) = NAN;
 		break;
 
-	case WaypointType::loiter:
+	case position_setpoint_s::SETPOINT_TYPE_LOITER:
 		if (_param_mpc_land_rc_help.get() && _sticks.checkAndUpdateStickInputs()) {
 			rcHelpModifyYaw(_yaw_setpoint);
 		}
 
 	// FALLTHROUGH
-	case WaypointType::takeoff:
-	case WaypointType::position:
+	case position_setpoint_s::SETPOINT_TYPE_TAKEOFF:
+	case position_setpoint_s::SETPOINT_TYPE_POSITION:
 	default:
 		// Simple waypoint navigation: go to xyz target, with standard limitations
 		_position_setpoint = _target;
@@ -243,7 +243,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
 		vertical_speed = _param_mpc_land_crawl_speed.get();
 	}
 
-	if (_type_previous != WaypointType::land) {
+	if (_type_previous != position_setpoint_s::SETPOINT_TYPE_LAND) {
 		// initialize yaw and xy-position
 		_land_heading = _yaw_setpoint;
 		_stick_acceleration_xy.resetPosition(Vector2f(_target(0), _target(1)));
@@ -360,7 +360,7 @@ bool FlightTaskAuto::_evaluateTriplets()
 	if (!_sub_triplet_setpoint.get().current.valid || !PX4_ISFINITE(_sub_triplet_setpoint.get().current.alt)) {
 		// Best we can do is to just set all waypoints to current state
 		_prev_prev_wp = _triplet_prev_wp = _triplet_target = _triplet_next_wp = _position;
-		_type = WaypointType::loiter;
+		_type = position_setpoint_s::SETPOINT_TYPE_LOITER;
 		_yaw_setpoint = _yaw;
 		_yawspeed_setpoint = NAN;
 		_target_acceptance_radius = _sub_triplet_setpoint.get().current.acceptance_radius;
@@ -368,7 +368,7 @@ bool FlightTaskAuto::_evaluateTriplets()
 		return true;
 	}
 
-	_type = (WaypointType)_sub_triplet_setpoint.get().current.type;
+	_type = _sub_triplet_setpoint.get().current.type;
 
 	// Prioritize cruise speed from the triplet when it's valid and more recent than the previously commanded cruise speed
 	const float cruise_speed_from_triplet = _sub_triplet_setpoint.get().current.cruising_speed;
@@ -456,7 +456,7 @@ bool FlightTaskAuto::_evaluateTriplets()
 
 		_prev_was_valid = _sub_triplet_setpoint.get().previous.valid;
 
-		if (_type == WaypointType::loiter) {
+		if (_type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
 			_triplet_next_wp = _triplet_target;
 
 		} else if (_isFinite(_sub_triplet_setpoint.get().next) && _sub_triplet_setpoint.get().next.valid) {
@@ -826,7 +826,7 @@ void FlightTaskAuto::_updateTrajConstraints()
 		// until the constraints don't do things like cause controller integrators to saturate. Once the controller
 		// doesn't use z speed constraints, this can go in _prepareTakeoffSetpoints(). Accel limit is to
 		// emulate the motor ramp (also done in the controller) so that the controller can actually track the setpoint.
-		if (_type == WaypointType::takeoff &&  _dist_to_ground < _param_mpc_land_alt1.get()) {
+		if (_type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&  _dist_to_ground < _param_mpc_land_alt1.get()) {
 			z_vel_constraint = _param_mpc_tko_speed.get();
 			z_accel_constraint = math::min(z_accel_constraint, _param_mpc_tko_speed.get() / _param_mpc_tko_ramp_t.get());
 
@@ -850,12 +850,6 @@ void FlightTaskAuto::_updateTrajConstraints()
 	_constraints.speed_up = math::max(_constraints.speed_up, 1.2f * _param_mpc_z_v_auto_up.get());;
 }
 
-bool FlightTaskAuto::_highEnoughForLandingGear()
-{
-	// return true if altitude is above two meters
-	return _dist_to_ground > 2.0f;
-}
-
 void FlightTaskAuto::updateParams()
 {
 	FlightTask::updateParams();

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp

@@ -60,20 +60,6 @@
 #include <lib/avoidance/ObstacleAvoidance.hpp>
 #endif
 
-/**
- * This enum has to agree with position_setpoint_s type definition
- * The only reason for not using the struct position_setpoint is because
- * of the size
- */
-enum class WaypointType : int {
-	position = position_setpoint_s::SETPOINT_TYPE_POSITION,
-	velocity = position_setpoint_s::SETPOINT_TYPE_VELOCITY,
-	loiter = position_setpoint_s::SETPOINT_TYPE_LOITER,
-	takeoff = position_setpoint_s::SETPOINT_TYPE_TAKEOFF,
-	land = position_setpoint_s::SETPOINT_TYPE_LAND,
-	idle = position_setpoint_s::SETPOINT_TYPE_IDLE
-};
-
 enum class State {
 	offtrack, /**< Vehicle is more than cruise speed away from track */
 	target_behind, /**< Vehicle is in front of target. */
@@ -115,7 +101,6 @@ protected:
 	bool _checkTakeoff() override { return _want_takeoff; };
 
 	void _prepareLandSetpoints();
-	bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
 
 	void updateParams() override; /**< See ModuleParam class */
 
@@ -126,7 +111,8 @@ protected:
 	matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
 	bool _next_was_valid{false};
 	float _mc_cruise_speed{NAN}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
-	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
+	uint8_t _type{position_setpoint_s::SETPOINT_TYPE_IDLE}; ///< Type of current target triplet
+	uint8_t _type_previous{position_setpoint_s::SETPOINT_TYPE_IDLE}; ///< Previous type of current target triplet
 
 	uORB::SubscriptionData<home_position_s>			_sub_home_position{ORB_ID(home_position)};
 	uORB::SubscriptionData<vehicle_status_s>		_sub_vehicle_status{ORB_ID(vehicle_status)};
@@ -147,7 +133,6 @@ protected:
 	StickYaw _stick_yaw{this};
 	matrix::Vector3f _land_position;
 	float _land_heading;
-	WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
 	bool _is_emergency_braking_active{false};
 	bool _want_takeoff{false};