From fb9f8d183506d1910e2d46fe7a509ea207bc42b8 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 23 Feb 2026 14:33:39 +0100
Subject: [PATCH] escCheck: remove thrust threshold above which current model
 applies

The newer upper lower bound offset current model should apply more accurately and not require a lower bount for thrust where there's no detection.
---
 .../HealthAndArmingChecks/checks/escCheck.cpp     |  3 +--
 .../HealthAndArmingChecks/checks/escCheck.hpp     |  1 -
 .../HealthAndArmingChecks/esc_check_params.c      | 15 ---------------
 3 files changed, 1 insertion(+), 18 deletions(-)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
index 946afa035f..aa884447d7 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
@@ -254,7 +254,6 @@ uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, c
 				thrust = fabsf(actuator_motors.control[actuator_function_index]);
 			}
 
-			bool thrust_above_threshold = thrust > _param_motfail_thr.get();
 			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();
 
@@ -263,7 +262,7 @@ uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, c
 
 			if (!_esc_undercurrent_hysteresis[i].get_state()) {
 				// Only set, never clear mid-air: stopping the motor in response could make it appear healthy again
-				_esc_undercurrent_hysteresis[i].set_state_and_update(thrust_above_threshold && current_too_low, now);
+				_esc_undercurrent_hysteresis[i].set_state_and_update(current_too_low, now);
 			}
 
 			if (!_esc_overcurrent_hysteresis[i].get_state()) {
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
index 0e9b47361e..21319282e5 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
@@ -72,7 +72,6 @@ private:
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
 					(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_com_arm_chk_escs,
 					(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_TIME>) _param_motfail_time,
 					(ParamFloat<px4::params::MOTFAIL_LOW_OFF>) _param_motfail_low_off,
diff --git a/src/modules/commander/HealthAndArmingChecks/esc_check_params.c b/src/modules/commander/HealthAndArmingChecks/esc_check_params.c
index 4f9282fd9c..64ecb1f8cd 100644
--- a/src/modules/commander/HealthAndArmingChecks/esc_check_params.c
+++ b/src/modules/commander/HealthAndArmingChecks/esc_check_params.c
@@ -45,21 +45,6 @@
  */
 PARAM_DEFINE_INT32(FD_ACT_EN, 0);
 
-/**
- * Motor Failure Thrust Threshold
- *
- * Failure detection per motor only triggers above this thrust value.
- * Set to 1 to disable the detection.
- *
- * @group Motor Failure
- * @unit norm
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- */
-PARAM_DEFINE_FLOAT(MOTFAIL_THR, 0.2f);
-
 /**
  * Motor Failure Current/Throttle Scale
  *