diff --git a/src/lib/circuit_breaker/circuit_breaker_params.c b/src/lib/circuit_breaker/circuit_breaker_params.c
index 140dbdb06d..f6d808104c 100644
--- a/src/lib/circuit_breaker/circuit_breaker_params.c
+++ b/src/lib/circuit_breaker/circuit_breaker_params.c
@@ -106,7 +106,8 @@ PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0);
  *
  * Setting this parameter to 121212 will disable the flight termination action if triggered
  * by the FailureDetector logic or if FMU is lost.
- * This circuit breaker does not affect the RC loss, data link loss and geofence safety logic.
+ * This circuit breaker does not affect the RC loss, data link loss, geofence,
+ * and takeoff failure detection safety logic.
  *
  * @reboot_required true
  * @min 0
diff --git a/src/modules/commander/failure_detector/failure_detector_params.c b/src/modules/commander/failure_detector/failure_detector_params.c
index dbc024ae72..cfaadeb8cf 100644
--- a/src/modules/commander/failure_detector/failure_detector_params.c
+++ b/src/modules/commander/failure_detector/failure_detector_params.c
@@ -45,10 +45,11 @@
 /**
  * FailureDetector Max Roll
  *
- * Maximum roll angle before FailureDetector triggers the attitude_failure flag
- * If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot
- * will terminate the flight and set all the outputs to their failsafe value
- * as soon as the attitude_failure flag is set.
+ * Maximum roll angle before FailureDetector triggers the attitude_failure flag.
+ * The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),
+ * which sets outputs to their failsafe values.
+ * On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),
+ * which disarms motors but does not set outputs to failsafe values.
  *
  * Setting this parameter to 0 disables the check
  *
@@ -62,10 +63,11 @@ PARAM_DEFINE_INT32(FD_FAIL_R, 60);
 /**
  * FailureDetector Max Pitch
  *
- * Maximum pitch angle before FailureDetector triggers the attitude_failure flag
- * If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot
- * will terminate the flight and set all the outputs to their failsafe value
- * as soon as the attitude_failure flag is set.
+ * Maximum pitch angle before FailureDetector triggers the attitude_failure flag.
+ * The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),
+ * which sets outputs to their failsafe values.
+ * On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),
+ * which disarms motors but does not set outputs to failsafe values.
  *
  * Setting this parameter to 0 disables the check
  *