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docs/en/peripherals/adsb_flarm.md
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@@ -73,9 +73,9 @@ Configure the action when there is a potential collision using the parameter bel
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="NAV_TRAFF_AVOID"></a>[NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. |
| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizonal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). |
| <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER) | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)). |
| <a id="NAV_TRAFF_AVOID"></a>[NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. |
| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizonal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). |
| <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER) | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)). |
| <a id="NAV_TRAFF_COLL_T"></a>[NAV_TRAFF_COLL_T](../advanced_config/parameter_reference.md#NAV_TRAFF_COLL_T) | Collision time threshold. Avoidance will trigger if the estimated time until collision drops below this value (the estimated time is based on relative speed of traffic and UAV). |
### Arming Check
@@ -85,9 +85,9 @@ This ensures that a traffic avoidance system is connected and functioning before
The check is configured using the [COM_ARM_TRAFF](../advanced_config/parameter_reference.md#COM_ARM_TRAFF) parameter:
| Value | Description |
| ----- | --------------------------------------------------------------------------------------------------------------------------- |
| 0 | Disabled (default). No check is performed. |
| Value | Description |
| ----- | -------------------------------------------------------------------------------------------------------------------------- |
| 0 | Disabled (default). No check is performed. |
| 1 | Warning only. A warning is issued if no traffic avoidance system is detected, but arming is allowed. |
| 2 | Enforce for all modes. Arming is denied if no traffic avoidance system is detected, regardless of flight mode. |
| 3 | Enforce for mission modes only. Arming is denied if no traffic avoidance system is detected and a mission mode is planned. |