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docs/en/advanced_config/parameter_reference.md
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@@ -22729,82 +22729,6 @@ Yaw rate proportional gain.
## Failure Detector
### FD_ACT_EN (`INT32`) {#FD_ACT_EN}
Enable Actuator Failure check.
If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle
level is being consumed.
Otherwise this indicates an motor failure.
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) | |
### FD_ACT_HIGH_OFF (`FLOAT`) {#FD_ACT_HIGH_OFF}
Overcurrent motor failure limit offset.
threshold = FD_ACT_MOT_C2T \* thrust + FD_ACT_HIGH_OFF
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 30 | 1 | 10. | A |
### FD_ACT_LOW_OFF (`FLOAT`) {#FD_ACT_LOW_OFF}
Undercurrent motor failure limit offset.
threshold = FD_ACT_MOT_C2T \* thrust - FD_ACT_LOW_OFF
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 30 | 1 | 10. | A |
### FD_ACT_MOT_C2T (`FLOAT`) {#FD_ACT_MOT_C2T}
Motor Failure Current/Throttle Scale.
Determines the slope between expected steady state current and linearized, normalized thrust command.
E.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.
FD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.0 | 50.0 | 1 | 35. | A/% |
### FD_ACT_MOT_THR (`FLOAT`) {#FD_ACT_MOT_THR}
Motor Failure Thrust Threshold.
Failure detection per motor only triggers above this thrust value.
Set to 1 to disable the detection.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.0 | 1.0 | 0.01 | 0.2 | norm |
### FD_ACT_MOT_TOUT (`INT32`) {#FD_ACT_MOT_TOUT}
Motor Failure Hysteresis Time.
Motor failure only triggers after current thresholds are exceeded for this time.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 10 | 10000 | 100 | 1000 | ms |
### FD_ESCS_EN (`INT32`) {#FD_ESCS_EN}
Enable checks on ESCs that report their arming state.
If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state.
Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ----------- | ---- |
| &nbsp; | | | | Enabled (1) | |
### FD_EXT_ATS_EN (`INT32`) {#FD_EXT_ATS_EN}
Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS).
@@ -28378,6 +28302,63 @@ needs to be changed to match a custom setting
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 0 | |
## Motor Failure
### FD_ACT_EN (`INT32`) {#FD_ACT_EN}
Enable Actuator Failure check.
If enabled, the HealthAndArmingChecks will verify that for motors, a minimum amount of ESC current per throttle
level is being consumed.
Otherwise this indicates an motor failure.
This check only works for ESCs that report current consumption.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------------ | ---- |
| &nbsp; | | | | Disabled (0) | |
### MOTFAIL_C2T (`FLOAT`) {#MOTFAIL_C2T}
Motor Failure Current/Throttle Scale.
Determines the slope between expected steady state current and linearized, normalized thrust command.
E.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.
FD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.0 | 50.0 | 1 | 35. | A/% |
### MOTFAIL_HIGH_OFF (`FLOAT`) {#MOTFAIL_HIGH_OFF}
Overcurrent motor failure limit offset.
threshold = FD_ACT_MOT_C2T \* thrust + FD_ACT_HIGH_OFF
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 30 | 1 | 10. | A |
### MOTFAIL_LOW_OFF (`FLOAT`) {#MOTFAIL_LOW_OFF}
Undercurrent motor failure limit offset.
threshold = FD_ACT_MOT_C2T \* thrust - FD_ACT_LOW_OFF
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 30 | 1 | 10. | A |
### MOTFAIL_TIME (`FLOAT`) {#MOTFAIL_TIME}
Motor Failure Hysteresis Time.
Motor failure only triggers after current thresholds are exceeded for this time.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | 10 | 1 | 1. | s |
## Mount
### MNT_DO_STAB (`INT32`) {#MNT_DO_STAB}