various: use enums to make the code easier to read.

Signed-off-by: Michael Hope <mlhx@google.com>

src/main/flight/pid.c

@@ -756,26 +756,26 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
     }
 }
 
-void pidSetController(int type)
+void pidSetController(pidControllerType_e type)
 {
     switch (type) {
-        case 0:
+        case PID_CONTROLLER_MULTI_WII:
         default:
             pid_controller = pidMultiWii;
             break;
-        case 1:
+        case PID_CONTROLLER_REWRITE:
             pid_controller = pidRewrite;
             break;
-        case 2:
+        case PID_CONTROLLER_LUX_FLOAT:
             pid_controller = pidLuxFloat;
             break;
-        case 3:
+        case PID_CONTROLLER_MULTI_WII_23:
             pid_controller = pidMultiWii23;
             break;
-        case 4:
+        case PID_CONTROLLER_MULTI_WII_HYBRID:
             pid_controller = pidMultiWiiHybrid;
             break;
-        case 5:
+        case PID_CONTROLLER_HARAKIRI:
             pid_controller = pidHarakiri;
     }
 }

src/main/flight/pid.h

@@ -38,6 +38,15 @@ typedef enum {
     PID_ITEM_COUNT
 } pidIndex_e;
 
+typedef enum {
+    PID_CONTROLLER_MULTI_WII,
+    PID_CONTROLLER_REWRITE,
+    PID_CONTROLLER_LUX_FLOAT,
+    PID_CONTROLLER_MULTI_WII_23,
+    PID_CONTROLLER_MULTI_WII_HYBRID,
+    PID_CONTROLLER_HARAKIRI,
+} pidControllerType_e;
+
 #define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)
 
 typedef struct pidProfile_s {
@@ -63,7 +72,7 @@ typedef struct pidProfile_s {
 extern int16_t axisPID[XYZ_AXIS_COUNT];
 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 
-void pidSetController(int type);
+void pidSetController(pidControllerType_e type);
 void pidResetErrorAngle(void);
 void pidResetErrorGyro(void);
 

src/main/io/gps.c

@@ -170,14 +170,14 @@ static const ubloxSbas_t ubloxSbas[] = {
 };
 
 
-enum {
+typedef enum {
     GPS_UNKNOWN,
     GPS_INITIALIZING,
     GPS_CHANGE_BAUD,
     GPS_CONFIGURE,
     GPS_RECEIVING_DATA,
     GPS_LOST_COMMUNICATION,
-};
+} gpsState_e;
 
 gpsData_t gpsData;
 
@@ -195,7 +195,7 @@ static void gpsNewData(uint16_t c);
 static bool gpsNewFrameNMEA(char c);
 static bool gpsNewFrameUBLOX(uint8_t data);
 
-static void gpsSetState(uint8_t state)
+static void gpsSetState(gpsState_e state)
 {
     gpsData.state = state;
     gpsData.state_position = 0;