From bef418398fb3c525f051eeb8f6b4e900d877c0be Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Wed, 17 Nov 2021 13:21:22 +0000
Subject: [PATCH] Update Failsafe.md

---
 docs/Failsafe.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Failsafe.md b/docs/Failsafe.md
index 00ea31a73..cbcb06a49 100644
--- a/docs/Failsafe.md
+++ b/docs/Failsafe.md
@@ -9,8 +9,8 @@ Failsafe is a state the flight controller is meant to enter when the radio recei
 If the failsafe happens while the flight controller is disarmed, it only prevent arming. If it happens while armed, the failsafe policy configured in `failsafe_procedure` is engaged. The available procedures are:
 
 * __DROP:__ Just kill the motors and disarm (crash the craft).
-* __LAND:__ (replaces **SET-THR** from INAV V3.1.0) Performs an Emergency Landing. Enables auto-level mode (for multirotor) or enters a preconfigured roll/pitch/yaw spiral down (for airplanes). If altitude sensors are working an actively controlled descent is performed using the Emergency Landing descent speed (`nav_emerg_landing_speed`). If altitude sensors are unavailable descent is performed with the throttle set to a predefined value (`failsafe_throttle`). The descent can be limited to a predefined time (`failsafe_off_delay`) after which the craft disarms. This is meant to get the craft to a safe-ish landing (or more realistically, a controlled crash), Other than using altitude sensors for an actively controlled descent it doesn't require any extra sensors other than gyros and accelerometers.
-* __SET-THR:__ (Pre INAV V3.1.0) Same as **LAND** except it doesn't use an Emergency Landing but is limited instead to just setting the throttle to a predefined value (`failsafe_throttle`) to perform a descent. It doesn't require any extra sensors other than gyros and accelerometers.
+* __LAND:__ (replaces **SET-THR** from INAV 4.0) Performs an Emergency Landing. Enables auto-level mode (for multirotor) or enters a preconfigured roll/pitch/yaw spiral down (for airplanes). If altitude sensors are working an actively controlled descent is performed using the Emergency Landing descent speed (`nav_emerg_landing_speed`). If altitude sensors are unavailable descent is performed with the throttle set to a predefined value (`failsafe_throttle`). The descent can be limited to a predefined time (`failsafe_off_delay`) after which the craft disarms. This is meant to get the craft to a safe-ish landing (or more realistically, a controlled crash). Other than using altitude sensors for an actively controlled descent it doesn't require any extra sensors other than basic gyros and accelerometers.
+* __SET-THR:__ (Pre INAV 4.0) Same as **LAND** except it doesn't use an Emergency Landing but is limited instead to just setting the throttle to a predefined value (`failsafe_throttle`) to perform a descent. It doesn't require any extra sensors other than basic gyros and accelerometers.
 * __RTH:__ (Return To Home) One of the key features of INAV, it automatically navigates the craft back to the home position and (optionally) lands it. Similarly to all other automated navigation methods, it requires GPS for any type of craft, plus compass and barometer for multicopters.
 * __NONE:__ Do nothing. This is meant to let the craft perform a fully automated flight (eg. waypoint flight) outside of radio range. Highly unsafe when used with manual flight.