I was driving, all OK when: Amber Failsafe Engine Restricted came up. I noticed that the Cruise control was inoperative (red light off) too.

This Failsafe Mode would reset itself after a 20 seconds ingition off/ignition on cycle.

Trouble shooting:
What made it reappear? There were no stored codes at all.

Test drive - I turned on cruise control - nothing yet all ok.

Set the cruise control while driving on a flat surface, all OK.

Tapped brake - worked normally (not the brake switch then) Cruise disconnected, can be reset.

Continued on and observed that I was losing speed, I was going up hill. Just as I reached to tap +, the Failsafe Mode came on.

Turned car off for count of 20, tried again.

When I knew what to look for, it became clear - As soon as the cruise control called for increased throttle to keep speed on an incline, the Amber Failsafe appeared and cruise control went inoperative.

A quick check under the hood showed the vacuum hose was disconnected at the throttle!

The very thin hard black plastic vaccuum hose connection to the vaccum booster where the throttle cable meets the throttle plate had fallen off.

A simple reconnect fixed this problem.

Hope this helps you quickly shoot the trouble down the road. I wish they were all this easy.