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docs/en/config/safety.md
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@@ -354,7 +354,7 @@ overcurrent: {esc current} > {MOTFAIL_C2T} * {motor command [0,1]} + {MOTFAIL_O
| <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_OFF"></a>[MOTFAIL_OFF](../advanced_config/parameter_reference.md#MOTFAIL_OFF) | Under/over-current detection threshold offset (A). Added to the expected current to form the upper bound. Subtracted from the expected current to form the lower bound. |
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| <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. |