Rover: fix ModeReason on fence breaches

ArduPilot · Jul 1, 2024 · dabc34e · dabc34e
1 parent 38ca478
commit dabc34e
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/Rover/failsafe.cpp b/Rover/failsafe.cpp
@@ -84,17 +84,17 @@ void Rover::failsafe_trigger(uint8_t failsafe_type, const char* type_str, bool o
             case FailsafeAction::None:
                 break;
             case FailsafeAction::SmartRTL:
-                if (set_mode(mode_smartrtl, ModeReason::BATTERY_FAILSAFE)) {
+                if (set_mode(mode_smartrtl, ModeReason::FAILSAFE)) {
                     break;
                 }
                 FALLTHROUGH;
             case FailsafeAction::RTL:
-                if (set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE)) {
+                if (set_mode(mode_rtl, ModeReason::FAILSAFE)) {
                     break;
                 }
                 FALLTHROUGH;
             case FailsafeAction::Hold:
-                set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE);
+                set_mode(mode_hold, ModeReason::FAILSAFE);
                 break;
             case FailsafeAction::SmartRTL_Hold:
                 if (!set_mode(mode_smartrtl, ModeReason::FAILSAFE)) {

diff --git a/Rover/fence.cpp b/Rover/fence.cpp
@@ -25,17 +25,17 @@ void Rover::fence_check()
                 case FailsafeAction::None:
                     break;
                 case FailsafeAction::SmartRTL:
-                    if (set_mode(mode_smartrtl, ModeReason::BATTERY_FAILSAFE)) {
+                    if (set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) {
                         break;
                     }
                     FALLTHROUGH;
                 case FailsafeAction::RTL:
-                    if (set_mode(mode_rtl, ModeReason::BATTERY_FAILSAFE)) {
+                    if (set_mode(mode_rtl, ModeReason::FENCE_BREACHED)) {
                         break;
                     }
                     FALLTHROUGH;
                 case FailsafeAction::Hold:
-                    set_mode(mode_hold, ModeReason::BATTERY_FAILSAFE);
+                    set_mode(mode_hold, ModeReason::FENCE_BREACHED);
                     break;
                 case FailsafeAction::SmartRTL_Hold:
                     if (!set_mode(mode_smartrtl, ModeReason::FENCE_BREACHED)) {