Fix enum for COM_RC_IN_MODE in failsafe

add enum RcInMode

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>

src/modules/commander/failsafe/failsafe.cpp

@@ -354,7 +354,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 	const bool rc_loss_ignored = rc_loss_ignored_mission || rc_loss_ignored_loiter || rc_loss_ignored_offboard ||
 				     rc_loss_ignored_takeoff || ignore_link_failsafe || _manual_control_lost_at_arming;
 
-	if (_param_com_rc_in_mode.get() != int32_t(offboard_loss_failsafe_mode::Land_mode) && !rc_loss_ignored) {
+	if (_param_com_rc_in_mode.get() != int32_t(RcInMode::StickInputDisabled) && !rc_loss_ignored) {
 		CHECK_FAILSAFE(status_flags, manual_control_signal_lost,
 			       fromNavDllOrRclActParam(_param_nav_rcl_act.get()).causedBy(Cause::ManualControlLoss));
 	}
@@ -382,7 +382,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 
 		// If manual control loss and GCS connection loss are disabled and we lose both command links and the mission finished,
 		// trigger RTL to avoid losing the vehicle
-		if ((_param_com_rc_in_mode.get() == int32_t(offboard_loss_failsafe_mode::Land_mode) || rc_loss_ignored_mission)
+		if ((_param_com_rc_in_mode.get() == int32_t(RcInMode::StickInputDisabled) || rc_loss_ignored_mission)
 		    && _param_nav_dll_act.get() == int32_t(gcs_connection_loss_failsafe_mode::Disabled)
 		    && state.mission_finished) {
 			_last_state_mission_control_lost = checkFailsafe(_caller_id_mission_control_lost, _last_state_mission_control_lost,

src/modules/commander/failsafe/failsafe.h

@@ -123,6 +123,15 @@ class Failsafe : public FailsafeBase
 		Hold_mode = 2,
 	};
 
+	// COM_RC_IN_MODE parameter values
+	enum class RcInMode : int32_t {
+		RcTransmitterOnly = 0, 		// RC Transmitter only
+		JoystickOnly = 1,		// Joystick only
+		RcAndJoystickWithFallback = 2,	// RC And Joystick with fallback
+		RcOrJoystickKeepFirst = 3,	// RC or Joystick keep first
+		StickInputDisabled = 4		// input disabled
+	};
+
 	static ActionOptions fromNavDllOrRclActParam(int param_value);
 
 	static ActionOptions fromGfActParam(int param_value);