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Co-Authored-By: PX4 BuildBot <bot@px4.io>

docs/en/advanced_config/parameter_reference.md

@@ -21110,25 +21110,6 @@ Arm switch is a momentary button.
 | ------ | -------- | -------- | --------- | ------------ | ---- | --------- |
 |   |          |          |           | Disabled (0) |      |      |
 
-### COM_ARM_TRAFF (`INT32`) {#COM_ARM_TRAFF}
-
-Enable Traffic Avoidance system detection check.
-
-This check detects if a traffic avoidance system (ADSB/FLARM transponder)
-is missing. Depending on the value of the parameter, the check can be
-disabled, warn only, or deny arming.
-
-**Values:**
-
-- `0`: Disabled
-- `1`: Warning only
-- `2`: Enforce for all modes
-- `3`: Enforce for mission modes only
-
-| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
-| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
-|   |          |          |           | 0       |      |      |
-
 ### COM_ARM_WO_GPS (`INT32`) {#COM_ARM_WO_GPS}
 
 Arming without GNSS configuration.
@@ -22032,6 +22013,26 @@ Set to 0 to disable.
 | ------ | -------- | -------- | --------- | ------- | ---- | --------- |
 |   | 0        |          | 0.1       | 5       | m/s  |      |
 
+### COM_TRAFF_AVOID (`INT32`) {#COM_TRAFF_AVOID}
+
+Traffic avoidance system requirement and failsafe.
+
+Warn about, and optionally require, a traffic avoidance system (ADS-B/FLARM
+transponder, detected via MAVLink heartbeats with a 3 second timeout), and
+trigger a failsafe action when it is missing or lost in flight.
+
+**Values:**
+
+- `0`: Disabled
+- `1`: Warning
+- `2`: Error
+- `3`: Return
+- `4`: Land
+
+| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
+| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
+|   |          |          |           | 0       |      |      |
+
 ### COM_VEL_FS_EVH (`FLOAT`) {#COM_VEL_FS_EVH}
 
 Horizontal velocity error threshold.

docs/en/msg_docs/FailsafeFlags.md

@@ -59,6 +59,7 @@ The flag comments are used as label for the failsafe state machine simulation
 | <a id="fld_position_accuracy_low"></a>position_accuracy_low                                       | `bool`   |              |            | Position estimate has dropped below threshold, but is currently still declared valid             |
 | <a id="fld_navigator_failure"></a>navigator_failure                                               | `bool`   |              |            | Navigator failed to execute a mode                                                               |
 | <a id="fld_parachute_unhealthy"></a>parachute_unhealthy                                           | `bool`   |              |            | Parachute system missing or unhealthy                                                            |
+| <a id="fld_traffic_avoidance_unhealthy"></a>traffic_avoidance_unhealthy                           | `bool`   |              |            | Traffic avoidance (ADS-B/FLARM) system missing or unhealthy                                      |
 | <a id="fld_remote_id_unhealthy"></a>remote_id_unhealthy                                           | `bool`   |              |            | Remote ID (Open Drone ID) system missing or unhealthy                                            |
 | <a id="fld_gnss_lost"></a>gnss_lost                                                               | `bool`   |              |            | Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions |
 
@@ -131,6 +132,7 @@ bool flight_time_limit_exceeded       # Maximum flight time exceeded
 bool position_accuracy_low            # Position estimate has dropped below threshold, but is currently still declared valid
 bool navigator_failure        	      # Navigator failed to execute a mode
 bool parachute_unhealthy              # Parachute system missing or unhealthy
+bool traffic_avoidance_unhealthy      # Traffic avoidance (ADS-B/FLARM) system missing or unhealthy
 bool remote_id_unhealthy              # Remote ID (Open Drone ID) system missing or unhealthy
 bool gnss_lost                        # Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions
 ```

docs/en/peripherals/adsb_flarm.md

@@ -184,13 +184,13 @@ This check only verifies that a traffic source is present. It is separate from D
 
 The behavior is configured using the [COM_TRAFF_AVOID](../advanced_config/parameter_reference.md#COM_TRAFF_AVOID) parameter:
 
-| Value | Description|
-| ----- | ---------- |
-| 0     | Disabled (default). No check is performed.|
+| Value | Description                                                                                                                                        |
+| ----- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| 0     | Disabled (default). No check is performed.                                                                                                         |
 | 1     | Warning (allow arming). Arming is allowed even if no traffic avoidance system is detected; a warning is issued if it is missing or lost in flight. |
-| 2     | Error (block arming). Arming is denied while no traffic avoidance system is detected, and a warning is issued if it is lost in flight. |
-| 3     | Return. Arming is denied while no traffic avoidance system is detected, and the vehicle returns if it is lost in flight.|
-| 4     | Land. Arming is denied while no traffic avoidance system is detected, and the vehicle lands if it is lost in flight.|
+| 2     | Error (block arming). Arming is denied while no traffic avoidance system is detected, and a warning is issued if it is lost in flight.             |
+| 3     | Return. Arming is denied while no traffic avoidance system is detected, and the vehicle returns if it is lost in flight.                           |
+| 4     | Land. Arming is denied while no traffic avoidance system is detected, and the vehicle lands if it is lost in flight.                               |
 
 When a traffic avoidance system is detected, the system tracks its presence with a 3-second timeout.
 If the system is lost or regained, corresponding events are logged ("Traffic avoidance system lost" / "Traffic avoidance system regained").