From 90021d3223e30f179d70fb95fcbb6690f90d7edc Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Mon, 1 Jul 2024 13:04:03 -0300 Subject: [PATCH] Rover: fix ModeReason on fence breaches --- Rover/failsafe.cpp | 6 +++--- Rover/fence.cpp | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/Rover/failsafe.cpp b/Rover/failsafe.cpp index da877c2bb7482..76aec3c27a1c5 100644 --- 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 index 4c29b48d243dc..2706bf91d376f 100644 --- 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)) {