Index: firmware/App/Modes/OperationModes.c
===================================================================
diff -u -r30f049651877229042e3f8700c8596e5b9a1e0f4 -re5d1d67106a93a6cd1b5692b586625d715732e2f
--- firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision 30f049651877229042e3f8700c8596e5b9a1e0f4)
+++ firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision e5d1d67106a93a6cd1b5692b586625d715732e2f)
@@ -37,7 +37,8 @@
 
 // ********** private data **********
 
-#define BROADCAST_HD_OP_MODE_INTERVAL       ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )      ///< HD operation mode broadcast interval (in task interval/sec).
+/// HD operation mode broadcast interval (in task interval/sec).
+static const U32 BROADCAST_HD_OP_MODE_INTERVAL = ( 250 / TASK_GENERAL_INTERVAL );
 
 // ********** private data **********
 
@@ -55,7 +56,7 @@
 /* INIT     */{ MODE_FAUL, MODE_NLEG, MODE_INIT, MODE_STAN, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, },
 /* STAN     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_STAN, MODE_TPAR, MODE_NLEG, MODE_NLEG, MODE_NLEG, },
 /* TPAR     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_TPAR, MODE_PRET, MODE_NLEG, MODE_NLEG, },
-/* PRET     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRET, MODE_TREA, MODE_NLEG, },
+/* PRET     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_NLEG, MODE_PRET, MODE_TREA, MODE_POST, },
 /* TREA     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_TREA, MODE_POST, },
 /* POST     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_POST, }, };
 
@@ -165,9 +166,9 @@
             break;
 
         default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_STATE, currentMode )
             currentMode = MODE_FAUL;
             currentSubMode = 0;
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_STATE, currentMode )
             break;
     }   // End switch
 
@@ -212,6 +213,18 @@
 
 /*********************************************************************//**
  * @brief
+ * The getPreviousOperationMode function gets the previous operation mode.
+ * @details Inputs: lastMode
+ * @details Outputs: none
+ * @return the previous operation mode
+ *************************************************************************/
+HD_OP_MODE_T getPreviousOperationMode( void )
+{
+    return lastMode;
+}
+
+/*********************************************************************//**
+ * @brief
  * The initiateAlarmAction function initiate an alarm or alarm recovery
  * action according to the current operation mode.
  * @details Inputs: currentMode
@@ -352,4 +365,38 @@
     }
 }
 
+
+/*************************************************************************
+ *                       TEST SUPPORT FUNCTIONS
+ *************************************************************************/
+
+
+/*********************************************************************//**
+ * @brief
+ * The testSetOperationMode function will transition to a given operation
+ * mode if the transition is legal.
+ * @details Inputs: none
+ * @details Outputs: modeRequest[]
+ * @param newMode ID of requested mode to transition to
+ * @return TRUE if request successful, FALSE if not
+ *************************************************************************/
+BOOL testSetOperationMode( HD_OP_MODE_T newMode )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        HD_OP_MODE_T check = MODE_TRANSITION_TABLE[ currentMode ][ newMode ];
+
+        // Is mode transition legal?
+        if ( check == newMode )
+        {
+            requestNewOperationMode( newMode );
+            result = TRUE;
+        }
+    }
+
+    return result;
+}
+
 /**@}*/