From 54a6344bd3190247afd18786ef898fb2b48a8919 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 5 Aug 2024 11:00:49 +1000
Subject: [PATCH] Tool: build_options.py: add
 AP_ROVER_ADVANCED_FAILSAFE_ENABLED

---
 Rover/afs_rover.cpp               | 4 ++--
 Tools/scripts/build_options.py    | 2 ++
 Tools/scripts/extract_features.py | 2 ++
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/Rover/afs_rover.cpp b/Rover/afs_rover.cpp
index 60625ed8de..29e1f12da1 100644
--- a/Rover/afs_rover.cpp
+++ b/Rover/afs_rover.cpp
@@ -32,6 +32,6 @@ AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Rover::afs_mode(void)
 //to force entering auto mode when datalink loss 
  void AP_AdvancedFailsafe_Rover::set_mode_auto(void)
  {
-    over.set_mode(rover.mode_auto,ModeReason::GCS_FAILSAFE);
+    rover.set_mode(rover.mode_auto,ModeReason::GCS_FAILSAFE);
  }
-#endif  // ADVANCED_FAILSAFE
+#endif  // AP_ROVER_ADVANCED_FAILSAFE_ENABLED
diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index c6cd5267d1..dacff7b61b 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -145,6 +145,8 @@ BUILD_OPTIONS = [
     Feature('Copter', 'MODE_FLIP', 'MODE_FLIP_ENABLED', 'Enable Mode Flip', 0, None),
     Feature('Copter', 'MODE_BRAKE', 'MODE_BRAKE_ENABLED', 'Enable Mode Brake', 0, None),
 
+    Feature('Rover', 'ROVER_ADVANCED_FAILSAFE', 'AP_ROVER_ADVANCED_FAILSAFE_ENABLED', 'Enable Advanced Failsafe', 0, None),
+
     Feature('Mission', 'MISSION_NAV_PAYLOAD_PLACE', 'AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED', 'Enable handling of NAV_PAYLOAD_PLACE mission items', 0, None),  # noqa
     Feature('Copter', 'AC_PAYLOAD_PLACE_ENABLED', 'AC_PAYLOAD_PLACE_ENABLED', 'Enable Payload Place flight behaviour', 0, 'MISSION_NAV_PAYLOAD_PLACE'),  # noqa
 
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 49e8ed719c..c39359602b 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -261,6 +261,8 @@ class ExtractFeatures(object):
             ('AP_MAVLINK_MSG_HIL_GPS_ENABLED', r'mavlink_msg_hil_gps_decode'),
             ('AP_BARO_PROBE_EXTERNAL_I2C_BUSES', r'AP_Compass::_probe_external_i2c_compasses'),
             ('AP_RSSI_ENABLED', r'AP_RSSI::init'),
+
+            ('AP_ROVER_ADVANCED_FAILSAFE_ENABLED', r'Rover::afs_fs_check'),
         ]
 
     def progress(self, msg):