diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 1e009c2c60..d0dd641dea 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -160,7 +160,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Description: Controls the action that will be taken when an EKF failsafe is invoked
     // @Values: 0:Disabled,1:Hold,2:ReportOnly
     // @User: Advanced
-    GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EFK_HOLD),
+    GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_HOLD),
 
     // @Param: FS_EKF_THRESH
     // @DisplayName: EKF failsafe variance threshold
diff --git a/Rover/defines.h b/Rover/defines.h
index 31b4996903..2c53628321 100644
--- a/Rover/defines.h
+++ b/Rover/defines.h
@@ -85,8 +85,8 @@ enum fs_crash_action {
 
 enum fs_ekf_action {
     FS_EKF_DISABLE = 0,
-    FS_EFK_HOLD = 1,
-    FS_EFK_REPORT_ONLY = 2,
+    FS_EKF_HOLD = 1,
+    FS_EKF_REPORT_ONLY = 2,
 };
 
 #define DISTANCE_HOME_MINCHANGE 0.5f  // minimum distance to adjust home location
diff --git a/Rover/ekf_check.cpp b/Rover/ekf_check.cpp
index 38f82dbce9..e89f198a29 100644
--- a/Rover/ekf_check.cpp
+++ b/Rover/ekf_check.cpp
@@ -163,9 +163,9 @@ void Rover::failsafe_ekf_event()
         case FS_EKF_DISABLE:
             // do nothing
             return;
-        case FS_EFK_REPORT_ONLY:
+        case FS_EKF_REPORT_ONLY:
             break;
-        case FS_EFK_HOLD:
+        case FS_EKF_HOLD:
         default:
             set_mode(mode_hold, ModeReason::EKF_FAILSAFE);
             break;