diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index dca8cafe271..523abacadc6 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -52,7 +52,7 @@ using namespace matrix;
 Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
 	VtolType(attc)
 {
-	_vtol_schedule.flight_mode = MC_MODE;
+	_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
 	_vtol_schedule.transition_start = 0;
 
 	_mc_roll_weight = 1.0f;
@@ -92,25 +92,25 @@ void Tailsitter::update_vtol_state()
 	if (!_attc->is_fixed_wing_requested()) {
 
 		switch (_vtol_schedule.flight_mode) { // user switchig to MC mode
-		case MC_MODE:
+		case vtol_mode::MC_MODE:
 			break;
 
-		case FW_MODE:
-			_vtol_schedule.flight_mode 	= TRANSITION_BACK;
+		case vtol_mode::FW_MODE:
+			_vtol_schedule.flight_mode = vtol_mode::TRANSITION_BACK;
 			_vtol_schedule.transition_start = hrt_absolute_time();
 			break;
 
-		case TRANSITION_FRONT_P1:
+		case vtol_mode::TRANSITION_FRONT_P1:
 			// failsafe into multicopter mode
-			_vtol_schedule.flight_mode = MC_MODE;
+			_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
 			break;
 
-		case TRANSITION_BACK:
+		case vtol_mode::TRANSITION_BACK:
 			float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
 
 			// check if we have reached pitch angle to switch to MC mode
 			if (pitch >= PITCH_TRANSITION_BACK || time_since_trans_start > _params->back_trans_duration) {
-				_vtol_schedule.flight_mode = MC_MODE;
+				_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
 			}
 
 			break;
@@ -119,55 +119,55 @@ void Tailsitter::update_vtol_state()
 	} else {  // user switchig to FW mode
 
 		switch (_vtol_schedule.flight_mode) {
-		case MC_MODE:
+		case vtol_mode::MC_MODE:
 			// initialise a front transition
-			_vtol_schedule.flight_mode 	= TRANSITION_FRONT_P1;
+			_vtol_schedule.flight_mode = vtol_mode::TRANSITION_FRONT_P1;
 			_vtol_schedule.transition_start = hrt_absolute_time();
 			break;
 
-		case FW_MODE:
+		case vtol_mode::FW_MODE:
 			break;
 
-		case TRANSITION_FRONT_P1: {
+		case vtol_mode::TRANSITION_FRONT_P1: {
 
 				bool airspeed_condition_satisfied = _airspeed->indicated_airspeed_m_s >= _params->transition_airspeed;
 				airspeed_condition_satisfied |= _params->airspeed_disabled;
 
 				// check if we have reached airspeed  and pitch angle to switch to TRANSITION P2 mode
 				if ((airspeed_condition_satisfied && pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
-					_vtol_schedule.flight_mode = FW_MODE;
+					_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
 				}
 
 				break;
 			}
 
-		case TRANSITION_BACK:
+		case vtol_mode::TRANSITION_BACK:
 			// failsafe into fixed wing mode
-			_vtol_schedule.flight_mode = FW_MODE;
+			_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
 			break;
 		}
 	}
 
 	// map tailsitter specific control phases to simple control modes
 	switch (_vtol_schedule.flight_mode) {
-	case MC_MODE:
+	case vtol_mode::MC_MODE:
 		_vtol_mode = mode::ROTARY_WING;
 		_vtol_vehicle_status->vtol_in_trans_mode = false;
 		_flag_was_in_trans_mode = false;
 		break;
 
-	case FW_MODE:
+	case vtol_mode::FW_MODE:
 		_vtol_mode = mode::FIXED_WING;
 		_vtol_vehicle_status->vtol_in_trans_mode = false;
 		_flag_was_in_trans_mode = false;
 		break;
 
-	case TRANSITION_FRONT_P1:
+	case vtol_mode::TRANSITION_FRONT_P1:
 		_vtol_mode = mode::TRANSITION_TO_FW;
 		_vtol_vehicle_status->vtol_in_trans_mode = true;
 		break;
 
-	case TRANSITION_BACK:
+	case vtol_mode::TRANSITION_BACK:
 		_vtol_mode = mode::TRANSITION_TO_MC;
 		_vtol_vehicle_status->vtol_in_trans_mode = true;
 		break;
@@ -181,7 +181,7 @@ void Tailsitter::update_transition_state()
 	if (!_flag_was_in_trans_mode) {
 		_flag_was_in_trans_mode = true;
 
-		if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
+		if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
 			// calculate rotation axis for transition.
 			_q_trans_start = Quatf(_v_att->q);
 			Vector3f z = -_q_trans_start.dcm_z();
@@ -198,7 +198,7 @@ void Tailsitter::update_transition_state()
 			// multirotor frame
 			_q_trans_start = _q_trans_start * Quatf(Eulerf(0, -M_PI_2_F, 0));
 
-		} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
+		} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
 			// initial attitude setpoint for the transition should be with wings level
 			_q_trans_start = Eulerf(0.0f, _mc_virtual_att_sp->pitch_body, _mc_virtual_att_sp->yaw_body);
 			Vector3f x = Dcmf(Quatf(_v_att->q)) * Vector3f(1, 0, 0);
@@ -212,7 +212,7 @@ void Tailsitter::update_transition_state()
 	float tilt = acosf(_q_trans_sp(0) * _q_trans_sp(0) - _q_trans_sp(1) * _q_trans_sp(1) - _q_trans_sp(2) * _q_trans_sp(
 				   2) + _q_trans_sp(3) * _q_trans_sp(3));
 
-	if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
+	if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
 
 		const float trans_pitch_rate = M_PI_2_F / _params->front_trans_duration;
 
@@ -221,7 +221,7 @@ void Tailsitter::update_transition_state()
 						       time_since_trans_start * trans_pitch_rate)) * _q_trans_start;
 		}
 
-	} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
+	} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
 
 		const float trans_pitch_rate = M_PI_2_F / _params->back_trans_duration;
 
@@ -287,7 +287,7 @@ void Tailsitter::fill_actuator_outputs()
 	_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
 			_mc_yaw_weight;
 
-	if (_vtol_schedule.flight_mode == FW_MODE) {
+	if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
 		_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
 			_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
 
@@ -296,7 +296,7 @@ void Tailsitter::fill_actuator_outputs()
 			_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
 	}
 
-	if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == MC_MODE) {
+	if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
 		_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0;
 		_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = 0;
 
diff --git a/src/modules/vtol_att_control/tailsitter.h b/src/modules/vtol_att_control/tailsitter.h
index da5715b2e0c..e718ee79b04 100644
--- a/src/modules/vtol_att_control/tailsitter.h
+++ b/src/modules/vtol_att_control/tailsitter.h
@@ -43,7 +43,7 @@
 #define TAILSITTER_H
 
 #include "vtol_type.h"
-#include <perf/perf_counter.h>  /** is it necsacery? **/
+
 #include <parameters/param.h>
 #include <drivers/drv_hrt.h>
 #include <matrix/matrix/math.hpp>
@@ -73,7 +73,7 @@ private:
 		param_t fw_pitch_sp_offset;
 	} _params_handles_tailsitter{};
 
-	enum vtol_mode {
+	enum class vtol_mode {
 		MC_MODE = 0,			/**< vtol is in multicopter mode */
 		TRANSITION_FRONT_P1,	/**< vtol is in front transition part 1 mode */
 		TRANSITION_BACK,		/**< vtol is in back transition mode */
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index 56315b28f83..45312bb32c6 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -47,7 +47,7 @@
 Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
 	VtolType(attc)
 {
-	_vtol_schedule.flight_mode = MC_MODE;
+	_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
 	_vtol_schedule.transition_start = 0;
 
 	_mc_roll_weight = 1.0f;
@@ -96,29 +96,29 @@ void Tiltrotor::update_vtol_state()
 
 		// plane is in multicopter mode
 		switch (_vtol_schedule.flight_mode) {
-		case MC_MODE:
+		case vtol_mode::MC_MODE:
 			break;
 
-		case FW_MODE:
-			_vtol_schedule.flight_mode 	= TRANSITION_BACK;
+		case vtol_mode::FW_MODE:
+			_vtol_schedule.flight_mode = vtol_mode::TRANSITION_BACK;
 			_vtol_schedule.transition_start = hrt_absolute_time();
 			break;
 
-		case TRANSITION_FRONT_P1:
+		case vtol_mode::TRANSITION_FRONT_P1:
 			// failsafe into multicopter mode
-			_vtol_schedule.flight_mode = MC_MODE;
+			_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
 			break;
 
-		case TRANSITION_FRONT_P2:
+		case vtol_mode::TRANSITION_FRONT_P2:
 			// failsafe into multicopter mode
-			_vtol_schedule.flight_mode = MC_MODE;
+			_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
 			break;
 
-		case TRANSITION_BACK:
+		case vtol_mode::TRANSITION_BACK:
 			float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
 
 			if (_tilt_control <= _params_tiltrotor.tilt_mc && time_since_trans_start > _params->back_trans_duration) {
-				_vtol_schedule.flight_mode = MC_MODE;
+				_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
 			}
 
 			break;
@@ -127,16 +127,16 @@ void Tiltrotor::update_vtol_state()
 	} else {
 
 		switch (_vtol_schedule.flight_mode) {
-		case MC_MODE:
+		case vtol_mode::MC_MODE:
 			// initialise a front transition
-			_vtol_schedule.flight_mode 	= TRANSITION_FRONT_P1;
+			_vtol_schedule.flight_mode = vtol_mode::TRANSITION_FRONT_P1;
 			_vtol_schedule.transition_start = hrt_absolute_time();
 			break;
 
-		case FW_MODE:
+		case vtol_mode::FW_MODE:
 			break;
 
-		case TRANSITION_FRONT_P1: {
+		case vtol_mode::TRANSITION_FRONT_P1: {
 				// allow switch if we are not armed for the sake of bench testing
 				bool transition_to_p2 = can_transition_on_ground();
 
@@ -153,46 +153,46 @@ void Tiltrotor::update_vtol_state()
 						    time_since_trans_start > _params->front_trans_time_openloop;
 
 				if (transition_to_p2) {
-					_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
+					_vtol_schedule.flight_mode = vtol_mode::TRANSITION_FRONT_P2;
 					_vtol_schedule.transition_start = hrt_absolute_time();
 				}
 
 				break;
 			}
 
-		case TRANSITION_FRONT_P2:
+		case vtol_mode::TRANSITION_FRONT_P2:
 
 			// if the rotors have been tilted completely we switch to fw mode
 			if (_tilt_control >= _params_tiltrotor.tilt_fw) {
-				_vtol_schedule.flight_mode = FW_MODE;
+				_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
 				_tilt_control = _params_tiltrotor.tilt_fw;
 			}
 
 			break;
 
-		case TRANSITION_BACK:
+		case vtol_mode::TRANSITION_BACK:
 			// failsafe into fixed wing mode
-			_vtol_schedule.flight_mode = FW_MODE;
+			_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
 			break;
 		}
 	}
 
 	// map tiltrotor specific control phases to simple control modes
 	switch (_vtol_schedule.flight_mode) {
-	case MC_MODE:
+	case vtol_mode::MC_MODE:
 		_vtol_mode = mode::ROTARY_WING;
 		break;
 
-	case FW_MODE:
+	case vtol_mode::FW_MODE:
 		_vtol_mode = mode::FIXED_WING;
 		break;
 
-	case TRANSITION_FRONT_P1:
-	case TRANSITION_FRONT_P2:
+	case vtol_mode::TRANSITION_FRONT_P1:
+	case vtol_mode::TRANSITION_FRONT_P2:
 		_vtol_mode = mode::TRANSITION_TO_FW;
 		break;
 
-	case TRANSITION_BACK:
+	case vtol_mode::TRANSITION_BACK:
 		_vtol_mode = mode::TRANSITION_TO_MC;
 		break;
 	}
@@ -225,7 +225,7 @@ void Tiltrotor::update_transition_state()
 		_flag_was_in_trans_mode = true;
 	}
 
-	if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
+	if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
 		// for the first part of the transition the rear rotors are enabled
 		if (_motor_state != motor_state::ENABLED) {
 			_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
@@ -263,7 +263,7 @@ void Tiltrotor::update_transition_state()
 
 		_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
 
-	} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
+	} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P2) {
 		// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
 		_tilt_control = _params_tiltrotor.tilt_transition +
 				fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition) * time_since_trans_start /
@@ -282,7 +282,7 @@ void Tiltrotor::update_transition_state()
 
 		_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
 
-	} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
+	} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
 		if (_motor_state != motor_state::ENABLED) {
 			_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
 		}
@@ -345,7 +345,7 @@ void Tiltrotor::fill_actuator_outputs()
 	_actuators_out_0->control[actuator_controls_s::INDEX_YAW] =
 		_actuators_mc_in->control[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
 
-	if (_vtol_schedule.flight_mode == FW_MODE) {
+	if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
 		_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
 			_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
 
@@ -366,7 +366,7 @@ void Tiltrotor::fill_actuator_outputs()
 
 	_actuators_out_1->control[4] = _tilt_control;
 
-	if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == MC_MODE) {
+	if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
 		_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0.0f;
 		_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = 0.0f;
 		_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f;
diff --git a/src/modules/vtol_att_control/tiltrotor.h b/src/modules/vtol_att_control/tiltrotor.h
index edfe89dd4f7..7ee36d76156 100644
--- a/src/modules/vtol_att_control/tiltrotor.h
+++ b/src/modules/vtol_att_control/tiltrotor.h
@@ -75,7 +75,7 @@ private:
 		param_t front_trans_dur_p2;
 	} _params_handles_tiltrotor;
 
-	enum vtol_mode {
+	enum class vtol_mode {
 		MC_MODE = 0,			/**< vtol is in multicopter mode */
 		TRANSITION_FRONT_P1,	/**< vtol is in front transition part 1 mode */
 		TRANSITION_FRONT_P2,	/**< vtol is in front transition part 2 mode */