From 8e12507e2c93bfd87d0ae15dc8da19775e91039a Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Wed, 5 Jun 2019 15:06:12 +0000
Subject: [PATCH] Update PX4 Firmware metadata Wed Jun  5 15:06:12 UTC 2019

---
 .../PX4/PX4ParameterFactMetaData.xml          | 26 +++++++++++++++----
 1 file changed, 21 insertions(+), 5 deletions(-)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index f732aa8a1..d695813bc 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -492,7 +492,7 @@ Fault Status: Present in r0p1, r0p2, r1p0 and r1p1. Fixed in r1p2</short_desc>
     </parameter>
     <parameter category="Developer" default="121212" name="CBRK_FLIGHTTERM" type="INT32">
       <short_desc>Circuit breaker for flight termination</short_desc>
-      <long_desc>Setting this parameter to 121212 will disable the flight termination action. --&gt; The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</long_desc>
+      <long_desc>Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss and geofence safety logic.</long_desc>
       <min>0</min>
       <max>121212</max>
       <reboot_required>true</reboot_required>
@@ -2765,18 +2765,34 @@ Set to 0 to disable heading hold</short_desc>
   <group name="Failure Detector">
     <parameter default="60" name="FD_FAIL_P" type="INT32">
       <short_desc>FailureDetector Max Pitch</short_desc>
-      <long_desc>Maximum pitch angle before FailureDetector triggers the attitude_failure flag Does not affect the behavior of the vehicle for now; only for logging</long_desc>
-      <min>0</min>
+      <long_desc>Maximum pitch angle before FailureDetector triggers the attitude_failure flag If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot will terminate the flight and set all the outputs to their failsafe value as soon as the attitude_failure flag is set. Setting this parameter to 0 disables the check</long_desc>
+      <min>60</min>
       <max>180</max>
       <unit>degrees</unit>
     </parameter>
+    <parameter default="0.3" name="FD_FAIL_P_TTRI" type="FLOAT">
+      <short_desc>Pitch failure trigger time</short_desc>
+      <long_desc>Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.</long_desc>
+      <min>0.02</min>
+      <max>5</max>
+      <unit>s</unit>
+      <decimal>2</decimal>
+    </parameter>
     <parameter default="60" name="FD_FAIL_R" type="INT32">
       <short_desc>FailureDetector Max Roll</short_desc>
-      <long_desc>Maximum roll angle before FailureDetector triggers the attitude_failure flag Does not affect the behavior of the vehicle for now; only for logging</long_desc>
-      <min>0</min>
+      <long_desc>Maximum roll angle before FailureDetector triggers the attitude_failure flag If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot will terminate the flight and set all the outputs to their failsafe value as soon as the attitude_failure flag is set. Setting this parameter to 0 disables the check</long_desc>
+      <min>60</min>
       <max>180</max>
       <unit>degrees</unit>
     </parameter>
+    <parameter default="0.3" name="FD_FAIL_R_TTRI" type="FLOAT">
+      <short_desc>Roll failure trigger time</short_desc>
+      <long_desc>Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.</long_desc>
+      <min>0.02</min>
+      <max>5</max>
+      <unit>s</unit>
+      <decimal>2</decimal>
+    </parameter>
   </group>
   <group name="Follow target">
     <parameter default="8.0" name="NAV_FT_DST" type="FLOAT">
-- 
2.22.0