feat(failure_detector): unite motorfailure offsets

docs/en/config/safety.md

@@ -339,22 +339,22 @@ The relevant parameters are shown below:
 
 ### Motor Failure Trigger
 
-The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) if the ESC current falls outside expected bounds for more than [MOTFAIL_TIME](#MOTFAIL_TIME) seconds.
+The failure detector can be configured to detect a motor failure while armed (and trigger an associated action) if the ESC current falls outside expected threshold for more than [MOTFAIL_TIME](#MOTFAIL_TIME) seconds.
 Motor failures are non-latching: if the failure condition clears, the failure is cleared.
 
 The undercurrent and overcurrent conditions are defined by:
 
 ```text
-undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_LOW_OFF}
-overcurrent:  {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_HIGH_OFF}
+undercurrent: {esc current} < {MOTFAIL_C2T} * {motor command [0,1]} - {MOTFAIL_OFF}
+overcurrent:  {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_OFF}
 ```
 
 | Parameter                                                                                                   | Description                                                                                                                                                                                                                               |
 | ----------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | <a id="FD_ACT_EN"></a>[FD_ACT_EN](../advanced_config/parameter_reference.md#FD_ACT_EN)                      | Enable/disable the motor failure trigger completely.                                                                                                                                                                                      |
 | <a id="MOTFAIL_C2T"></a>[MOTFAIL_C2T](../advanced_config/parameter_reference.md#MOTFAIL_C2T)                | Slope between normalized motor command [0–1] and expected steady-state current (FD_ACT_MOT_C2T at 100%) (A/%).                                                                                                                            |
-| <a id="MOTFAIL_LOW_OFF"></a>[MOTFAIL_LOW_OFF](../advanced_config/parameter_reference.md#MOTFAIL_LOW_OFF)    | Undercurrent detection threshold offset (A). Subtracted from the expected current to form the lower bound.                                                                                                                                |
-| <a id="MOTFAIL_HIGH_OFF"></a>[MOTFAIL_HIGH_OFF](../advanced_config/parameter_reference.md#MOTFAIL_HIGH_OFF) | Overcurrent detection threshold offset (A). Added to the expected current to form the upper bound.                                                                                                                                        |
+| <a id="MOTFAIL_OFF"></a>[MOTFAIL_OFF](../advanced_config/parameter_reference.md#MOTFAIL_OFF)    | Under/over-current detection threshold offset (A). Subtracted from the expected current to form the lower bound.                                                                                                                                |
+                                                                                                                                   |
 | <a id="MOTFAIL_TIME"></a>[MOTFAIL_TIME](../advanced_config/parameter_reference.md#MOTFAIL_TIME)             | Hysteresis time (s) for which the current threshold must remain exceeded before a motor failure is triggered.                                                                                                                             |
 | <a id="CA_FAILURE_MODE"></a>[CA_FAILURE_MODE](../advanced_config/parameter_reference.md#CA_FAILURE_MODE)    | Configure to not only warn about a motor failure but remove the first motor that detects a failure from the allocation effectiveness which turns off the motor and tries to operate the vehicle without it until disarming the next time. |
 

src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp

@@ -250,8 +250,8 @@ uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, c
 				thrust = fabsf(actuator_motors.control[actuator_function_index]);
 			}
 
-			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();
+			bool current_too_low = current < (thrust * _param_motfail_c2t.get()) - _param_motfail_off.get();
+			bool current_too_high = current > (thrust * _param_motfail_c2t.get()) + _param_motfail_off.get();
 
 			_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_s);
 			_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_s);

src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp

@@ -76,6 +76,5 @@ class EscChecks : public HealthAndArmingCheckBase
 					(ParamBool<px4::params::FD_ACT_EN>) _param_fd_act_en,
 					(ParamFloat<px4::params::MOTFAIL_C2T>) _param_motfail_c2t,
 					(ParamFloat<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);
+					(ParamFloat<px4::params::MOTFAIL_OFF>) _param_motfail_off);
 };

src/modules/commander/HealthAndArmingChecks/esc_check_params.yaml

@@ -26,21 +26,10 @@ parameters:
       unit: A/%
       decimal: 2
       increment: 1
-    MOTFAIL_LOW_OFF:
+    MOTFAIL_OFF:
       description:
-        short: Undercurrent motor failure limit offset
-        long: threshold = FD_ACT_MOT_C2T * thrust - FD_ACT_LOW_OFF
-      type: float
-      default: 10.0
-      min: 0
-      max: 30
-      unit: A
-      decimal: 2
-      increment: 1
-    MOTFAIL_HIGH_OFF:
-      description:
-        short: Overcurrent motor failure limit offset
-        long: threshold = FD_ACT_MOT_C2T * thrust + FD_ACT_HIGH_OFF
+        short: Under/over-current motor failure limit offset
+        long: threshold = FD_ACT_MOT_C2T * thrust - FD_ACT_OFF
       type: float
       default: 10.0
       min: 0