From c1480315f54432117f725d1e0657b3d6113267ad Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 16 Aug 2016 08:57:21 +1000
Subject: [PATCH] AP_AdvancedFailsafe: update AFS_TERMINATE on GCS on
 termination

---
 libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
index 5424f6e591..7e84ddbb53 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
@@ -162,7 +162,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
         if (geofence_breached || check_altlimit()) {
             if (!_terminate) {
                 GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Fence TERMINATE");
-                _terminate.set(1);
+                _terminate.set_and_notify(1);
             }
         }
     }
@@ -176,7 +176,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
         _rc_fail_time_seconds > 0 &&
             (AP_HAL::millis() - last_valid_rc_ms) > (_rc_fail_time_seconds * 1000.0f)) {
         GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "RC failure terminate");
-        _terminate.set(1);
+        _terminate.set_and_notify(1);
     }
     
     // tell the failsafe board if we are in manual control
@@ -240,7 +240,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
             if(_enable_dual_loss) {
                 if (!_terminate) {
                     GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Dual loss TERMINATE");
-                    _terminate.set(1);
+                    _terminate.set_and_notify(1);
                 }
             }
         } else if (gcs_link_ok) {
@@ -262,7 +262,7 @@ AP_AdvancedFailsafe::check(uint32_t last_heartbeat_ms, bool geofence_breached, u
             // leads to termination if AFS_DUAL_LOSS is 1
             if (!_terminate && _enable_dual_loss) {
                 GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Dual loss TERMINATE");
-                _terminate.set(1);
+                _terminate.set_and_notify(1);
             }
         } else if (gps_lock_ok) {
             GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS OK");