From cfb2a6b2f9e4f84b01ce5ec55b21984e2387bba2 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 13 May 2016 11:39:37 +0900
Subject: [PATCH] Copter: update brake-timeout to work with master

We added mode-change reasons since PR was submitted
---
 ArduCopter/control_brake.cpp | 7 +++----
 ArduCopter/defines.h         | 3 ++-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/control_brake.cpp b/ArduCopter/control_brake.cpp
index 02ef385049..01d01c65a6 100644
--- a/ArduCopter/control_brake.cpp
+++ b/ArduCopter/control_brake.cpp
@@ -78,10 +78,9 @@ void Copter::brake_run()
     pos_control.set_alt_target_from_climb_rate_ff(0.0f, G_Dt, false);
     pos_control.update_z_controller();
 
-    if (brake_timeout_ms != 0 && millis()-brake_timeout_start >= brake_timeout_ms)
-    {
-        if(!set_mode(LOITER)) {
-            set_mode(ALT_HOLD);
+    if (brake_timeout_ms != 0 && millis()-brake_timeout_start >= brake_timeout_ms) {
+        if (!set_mode(LOITER, MODE_REASON_BRAKE_TIMEOUT)) {
+            set_mode(ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT);
         }
     }
 }
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 6354205f11..2d460b0a2a 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -118,7 +118,8 @@ enum mode_reason_t {
     MODE_REASON_MISSION_END,
     MODE_REASON_THROTTLE_LAND_ESCAPE,
     MODE_REASON_FENCE_BREACH,
-    MODE_REASON_TERRAIN_FAILSAFE
+    MODE_REASON_TERRAIN_FAILSAFE,
+    MODE_REASON_BRAKE_TIMEOUT
 };
 
 // Tuning enumeration