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docs(safety): add altitude loss detection failsafe documentation (#27104)

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Gennaro Guidone
2026-04-23 06:16:32 +02:00
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docs/en/config/safety.md
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@@ -310,6 +310,19 @@ Note that this check is _always enabled on takeoff_, irrespective of the `CBRK_F
The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/acro.md), [Acro mode (FW)](../flight_modes_fw/acro.md), and [Manual (FW)](../flight_modes_fw/manual.md)).
### Altitude Loss Trigger {#altitude-loss-trigger}
<Badge type="tip" text="PX4 v1.18" /> <Badge type="tip" text="MC, VTOL only" />
The failure detector can be configured to trigger if a rotary-wing vehicle loses too much altitude below its commanded setpoint while in an altitude-controlled flight mode (such as [Position mode](../flight_modes_mc/position.md) or [Altitude mode](../flight_modes_mc/altitude.md)).
If the vehicle descends more than [FD_ALT_LOSS](#FD_ALT_LOSS) meters below the setpoint, [flight termination](../advanced_config/flight_termination.md) is triggered, which may deploy a [parachute](../peripherals/parachute.md).
| Parameter | Description |
| -------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FD_ALT_LOSS"></a>[FD_ALT_LOSS](../advanced_config/parameter_reference.md#FD_ALT_LOSS) | Altitude loss threshold (m). Flight termination is triggered when the vehicle drops this far below the setpoint. Set to 0 to disable. |
| <a id="FD_ALT_LOSS_T"></a>[FD_ALT_LOSS_T](../advanced_config/parameter_reference.md#FD_ALT_LOSS_T) | Time (s) the vehicle must remain below the threshold before flight termination is triggered. |
### Attitude Trigger
The failure detector can be configured to trigger if the vehicle attitude exceeds predefined pitch and roll values for longer than a specified time.