failure_detector: add motor/ESC failure detection

src/modules/commander/commander_params.c

@@ -128,49 +128,6 @@ PARAM_DEFINE_INT32(COM_HLDL_LOSS_T, 120);
  */
 PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0);
 
-/**
- * Engine Failure Throttle Threshold
- *
- * Engine failure triggers only above this throttle value
- *
- * @group Commander
- * @unit norm
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- */
-PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
-
-/**
- * Engine Failure Current/Throttle Threshold
- *
- * Engine failure triggers only below this current value
- *
- * @group Commander
- * @min 0.0
- * @max 50.0
- * @unit A/%
- * @decimal 2
- * @increment 1
- */
-PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
-
-/**
- * Engine Failure Time Threshold
- *
- * Engine failure triggers only if the throttle threshold and the
- * current to throttle threshold are violated for this time
- *
- * @group Commander
- * @unit s
- * @min 0.0
- * @max 60.0
- * @decimal 1
- * @increment 1
- */
-PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
-
 /**
  * RC loss time threshold
  *
@@ -893,6 +850,23 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
  */
 PARAM_DEFINE_INT32(COM_RCL_EXCEPT, 0);
 
+/**
+ * Set the actuator failure failsafe mode
+ *
+ * Note: actuator failure needs to be enabled and configured via FD_ACT_*
+ * parameters.
+ *
+ * @min 0
+ * @max 3
+ * @value 0 Disabled
+ * @value 1 Hold mode
+ * @value 2 Land mode
+ * @value 3 Return mode
+ * @value 4 Terminate
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_ACT_FAIL_ACT, 0);
+
 /**
  * Flag to enable obstacle avoidance.
  *