diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index 0e564b10a4..118171dc62 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -221,8 +221,8 @@ void FailureDetector::updateAttitudeStatus()
 		const float max_roll(fabsf(math::radians(max_roll_deg)));
 		const float max_pitch(fabsf(math::radians(max_pitch_deg)));
 
-		const bool roll_status = (max_roll > 0.0f) && (fabsf(roll) > max_roll);
-		const bool pitch_status = (max_pitch > 0.0f) && (fabsf(pitch) > max_pitch);
+		const bool roll_status = (max_roll > FLT_EPSILON) && (fabsf(roll) > max_roll);
+		const bool pitch_status = (max_pitch > FLT_EPSILON) && (fabsf(pitch) > max_pitch);
 
 		hrt_abstime time_now = hrt_absolute_time();
 
diff --git a/src/modules/commander/failure_detector/failure_detector_params.c b/src/modules/commander/failure_detector/failure_detector_params.c
index 60ee007477..e472c304b8 100644
--- a/src/modules/commander/failure_detector/failure_detector_params.c
+++ b/src/modules/commander/failure_detector/failure_detector_params.c
@@ -53,7 +53,7 @@
  *
  * Setting this parameter to 0 disables the check
  *
- * @min 60
+ * @min 0
  * @max 180
  * @unit deg
  * @group Failure Detector
@@ -71,7 +71,7 @@ PARAM_DEFINE_INT32(FD_FAIL_R, 60);
  *
  * Setting this parameter to 0 disables the check
  *
- * @min 60
+ * @min 0
  * @max 180
  * @unit deg
  * @group Failure Detector