diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks_params.c b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks_params.c
index ab9c03fe84..f723f949b4 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks_params.c
+++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks_params.c
@@ -31,9 +31,6 @@
  *
  ****************************************************************************/
 
-#include <px4_platform_common/px4_config.h>
-#include <parameters/param.h>
-
 /**
  * Motor Failure Thrust Threshold
  *
@@ -65,19 +62,6 @@ PARAM_DEFINE_FLOAT(MOTFAIL_THR, 0.2f);
  */
 PARAM_DEFINE_FLOAT(MOTFAIL_C2T, 35.f);
 
-/**
- * Motor Failure Hysteresis Time
- *
- * Motor failure only triggers after current thresholds are exceeded for this time.
- *
- * @group Motor Failure
- * @unit ms
- * @min 10
- * @max 10000
- * @increment 100
- */
-PARAM_DEFINE_INT32(MOTFAIL_TOUT, 1000);
-
 /**
  * Undercurrent motor failure limit offset
  *
@@ -105,3 +89,16 @@ PARAM_DEFINE_FLOAT(MOTFAIL_LOW_OFF, 10.f);
  * @increment 1
  */
 PARAM_DEFINE_FLOAT(MOTFAIL_HIGH_OFF, 10.f);
+
+/**
+ * Motor Failure Hysteresis Time
+ *
+ * Motor failure only triggers after current thresholds are exceeded for this time.
+ *
+ * @group Motor Failure
+ * @unit ms
+ * @min 10
+ * @max 10000
+ * @increment 100
+ */
+PARAM_DEFINE_INT32(MOTFAIL_TIME, 1000);
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
index 69407e9e61..e78428242a 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
@@ -273,8 +273,8 @@ uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, c
 			bool current_too_low = current < (thrust * _param_motfail_c2t.get()) - _param_motfail_low_off.get();
 			bool current_too_high = current > (thrust * _param_motfail_c2t.get()) + _param_motfail_high_off.get();
 
-			_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_tout.get() * 1_ms);
-			_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_tout.get() * 1_ms);
+			_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_ms);
+			_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_ms);
 
 			if (!_esc_undercurrent_hysteresis[i].get_state()) {
 				// Do not clear mid operation because a reaction could be to stop the motor and that would be conidered healthy again
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
index cc15039f0b..ddeee95f1b 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
@@ -50,10 +50,7 @@ public:
 
 	void checkAndReport(const Context &context, Report &reporter) override;
 
-	uint16_t getMotorFailureMask() const
-	{
-		return _motor_failure_mask;
-	}
+	uint16_t getMotorFailureMask() const { return _motor_failure_mask; }
 	bool getEscArmStatus() const { return _esc_arm_hysteresis.get_state(); }
 
 private:
@@ -63,7 +60,6 @@ private:
 	void updateEscsStatus(const Context &context, Report &reporter, const esc_status_s &esc_status);
 
 	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
-	uORB::Subscription _failure_detector_status_sub{ORB_ID(failure_detector_status)};
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
 
 	const hrt_abstime _start_time{hrt_absolute_time()};
@@ -80,7 +76,7 @@ private:
 					(ParamBool<px4::params::FD_ACT_EN>) _param_fd_act_en,
 					(ParamFloat<px4::params::MOTFAIL_THR>) _param_motfail_thr,
 					(ParamFloat<px4::params::MOTFAIL_C2T>) _param_motfail_c2t,
-					(ParamInt<px4::params::MOTFAIL_TOUT>) _param_motfail_tout,
+					(ParamInt<px4::params::MOTFAIL_TIME>) _param_motfail_time,
 					(ParamFloat<px4::params::MOTFAIL_LOW_OFF>) _param_motfail_low_off,
 					(ParamFloat<px4::params::MOTFAIL_HIGH_OFF>) _param_motfail_high_off);
 };
diff --git a/src/modules/commander/failure_detector/failure_detector_params.c b/src/modules/commander/failure_detector/failure_detector_params.c
index 5c99d49760..b3d23ab30a 100644
--- a/src/modules/commander/failure_detector/failure_detector_params.c
+++ b/src/modules/commander/failure_detector/failure_detector_params.c
@@ -39,9 +39,6 @@
  * @author Mathieu Bresciani <brescianimathieu@gmail.com>
  */
 
-#include <px4_platform_common/px4_config.h>
-#include <parameters/param.h>
-
 /**
  * FailureDetector Max Roll
  *