New Crowdin translations - uk (#25781)

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docs/uk/config/safety.md

@@ -274,12 +274,12 @@ The relevant parameters are listed in the table below.
 
 ## Виявлення відмов
 
-Детектор відмов дозволяє автомобілю вжити захисних заходів, якщо він несподівано перевертається, або якщо йому повідомлено зовнішньою системою виявлення відмов.
+The failure detector allows a vehicle to take protective actions if it unexpectedly flips, detects a motor failure, or if it is notified by an external failure detection system.
 
 During **flight**, the failure detector can be used to trigger [flight termination](../advanced_config/flight_termination.md) if failure conditions are met, which may then launch a [parachute](../peripherals/parachute.md) or perform some other action.
 
 :::info
-Failure detection during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)).
+Acting on a detected failure during flight is deactivated by default (enable by setting the parameter: [CBRK_FLIGHTTERM=0](#CBRK_FLIGHTTERM)).
 :::
 
 During **takeoff** the failure detector [attitude trigger](#attitude-trigger) invokes the [disarm action](#act_disarm) if the vehicle flips (disarm kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions).
@@ -301,6 +301,26 @@ The failure detector is active in all vehicle types and modes, except for those
 | <a id="FD_FAIL_P_TTRI"></a>[FD_FAIL_P_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_P_TTRI) | Time to exceed [FD_FAIL_P](#FD_FAIL_P) for failure detection (default 0.3s).            |
 | <a id="FD_FAIL_R_TTRI"></a>[FD_FAIL_R_TTRI](../advanced_config/parameter_reference.md#FD_FAIL_R_TTRI) | Time to exceed [FD_FAIL_R](#FD_FAIL_R) for failure detection (default 0.3s).            |
 
+### Motor Failure Trigger
+
+The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) in the following conditions:
+
+- A 300 ms timeout occurs in telemetry from an ESC that was previously available.
+- The input current in the telemetry of an ESC which was previously positive gets too low for more than [`FD_ACT_MOT_TOUT`](FD_ACT_MOT_TOUT) ms.
+  The "too low" condition is defined by:
+
+  ```text
+  {esc current} < {parameter FD_ACT_MOT_C2T} * {motor command between 0 and 1}
+  ```
+
+| Параметр                                                                                                                                                                | Опис                                                                                                                                                                                                                                                      |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN)                                        | Enable/disable the motor failure trigger completely.                                                                                                                                                                                      |
+| <a id="FD_ACT_MOT_THR"></a>[FD_ACT_MOT_THR](../advanced_config/parameter_reference.md#FD_ACT_MOT_THR)    | Minimum normalized [0,1] motor command below which motor under current is ignored.                                                                                                    |
+| <a id="FD_ACT_MOT_C2T"></a>[FD_ACT_MOT_C2T](../advanced_config/parameter_reference.md#FD_ACT_MOT_C2T)    | Scale between normalized [0,1] motor command and expected minimally reported currrent when the rotor is healthy.                                                                      |
+| <a id="FD_ACT_MOT_TOUT"></a>[FD_ACT_MOT_TOUT](../advanced_config/parameter_reference.md#FD_ACT_MOT_TOUT) | Time in miliseconds for which the under current detection condition needs to stay true.                                                                                                                                                   |
+| <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE)                      | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
+
 ### Зовнішня автоматична система тригерування (ATS)
 
 The [failure detector](#failure-detector), if [enabled](#CBRK_FLIGHTTERM), can also be triggered by an external ATS system.