From a9461c4d1a1fe077144207ba3694b7c8eb495861 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 23 Feb 2026 14:42:53 +0100
Subject: [PATCH] escCheck: Change MOTFAIL_TIME unit to seconds for better UX

---
 .../HealthAndArmingChecks/checks/escCheck.cpp         |  5 ++---
 .../HealthAndArmingChecks/checks/escCheck.hpp         |  2 +-
 .../HealthAndArmingChecks/esc_check_params.c          | 11 ++++++-----
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
index aa884447d7..5011d78cda 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
@@ -75,7 +75,6 @@ void EscChecks::checkAndReport(const Context &context, Report &reporter)
 
 	esc_status_s esc_status;
 
-
 	// Run motor status checks even when no new ESC data arrives (to detect timeouts)
 	if (_esc_status_sub.copy(&esc_status)) {
 		if (esc_status.esc_count <= 0) {
@@ -257,8 +256,8 @@ uint16_t EscChecks::checkMotorStatus(const Context &context, Report &reporter, c
 			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();
 
-			_esc_undercurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_ms);
-			_esc_overcurrent_hysteresis[i].set_hysteresis_time_from(false, _param_motfail_time.get() * 1_ms);
+			_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);
 
 			if (!_esc_undercurrent_hysteresis[i].get_state()) {
 				// Only set, never clear mid-air: stopping the motor in response could make it appear healthy again
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
index 21319282e5..3f0a950934 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
@@ -73,7 +73,7 @@ private:
 					(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_com_arm_chk_escs,
 					(ParamBool<px4::params::FD_ACT_EN>) _param_fd_act_en,
 					(ParamFloat<px4::params::MOTFAIL_C2T>) _param_motfail_c2t,
-					(ParamInt<px4::params::MOTFAIL_TIME>) _param_motfail_time,
+					(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);
 };
diff --git a/src/modules/commander/HealthAndArmingChecks/esc_check_params.c b/src/modules/commander/HealthAndArmingChecks/esc_check_params.c
index 64ecb1f8cd..e30536ea8e 100644
--- a/src/modules/commander/HealthAndArmingChecks/esc_check_params.c
+++ b/src/modules/commander/HealthAndArmingChecks/esc_check_params.c
@@ -95,9 +95,10 @@ PARAM_DEFINE_FLOAT(MOTFAIL_HIGH_OFF, 10.f);
  * Motor failure only triggers after current thresholds are exceeded for this time.
  *
  * @group Motor Failure
- * @unit ms
- * @min 10
- * @max 10000
- * @increment 100
+ * @unit s
+ * @min 0.01
+ * @max 10
+ * @decimal 2
+ * @increment 1
  */
-PARAM_DEFINE_INT32(MOTFAIL_TIME, 1000);
+PARAM_DEFINE_FLOAT(MOTFAIL_TIME, 1.f);