From d4a04c6469c4d0a59b3443b97388b0bb0b8e8c9d Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Fri, 26 Jun 2026 13:27:50 -0300
Subject: [PATCH 1/4] Frontend: diplay batteryfailsafecard with a warning if
 params missing

---
 .../configuration/failsafes/FailsafeCard.vue  | 55 ++++++++++++++++---
 .../configuration/failsafes/Failsafes.vue     |  7 +++
 .../configuration/failsafes/types.ts          |  7 +++
 3 files changed, 61 insertions(+), 8 deletions(-)

diff --git a/core/frontend/src/components/vehiclesetup/configuration/failsafes/FailsafeCard.vue b/core/frontend/src/components/vehiclesetup/configuration/failsafes/FailsafeCard.vue
index 5639429acf..15d327c1c6 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/failsafes/FailsafeCard.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/failsafes/FailsafeCard.vue
@@ -1,8 +1,11 @@
 <template>
   <v-card
-    v-if="all_required_params_are_available"
+    v-if="all_required_params_are_available || dependency_unmet"
     elevation="2"
-    :class="{ 'disabled-failsafe': is_disabled }"
+    :class="{
+      'disabled-failsafe': is_disabled && !dependency_unmet,
+      'unavailable-failsafe': dependency_unmet,
+    }"
     class="mb-4 mt-4 pa-4 d-flex flex-row  flex-grow-0 justify-left failsafe-card"
   >
     <div class="ma-4">
@@ -15,7 +18,7 @@
       <v-card-text>
         {{ failsafeDefinition.generalDescription }}
       </v-card-text>
-      <div>
+      <div v-if="!dependency_unmet">
         <div v-for="param in available_params" :key="param.name">
           <v-row class="justify-right">
             <v-col :key="param.name" class="action-col" cols="7">
@@ -35,6 +38,15 @@
           </v-row>
         </div>
       </div>
+      <v-alert
+        v-else
+        type="warning"
+        text
+        dense
+        class="mx-4 mb-2"
+      >
+        {{ dependency_message }}
+      </v-alert>
     </div>
   </v-card>
 </template>
@@ -87,6 +99,22 @@ export default Vue.extend({
       }
       return this.params[controlParam.name].value === 0
     },
+    dependency_unmet(): boolean {
+      const dep = this.failsafeDefinition.dependsOn
+      if (!dep) {
+        return false
+      }
+      // If the dependency parameter itself hasn't loaded yet, don't show a
+      // spurious notice; once params load, this re-evaluates to the truth.
+      const depParam = autopilot_data.parameters.find((p) => p.name === dep.paramName)
+      if (!depParam) {
+        return false
+      }
+      return depParam.value === dep.disabledValue
+    },
+    dependency_message(): string {
+      return this.failsafeDefinition.dependsOn?.message ?? ''
+    },
     actionParamName(): string | undefined {
       return this.findControlParam()?.name
     },
@@ -135,18 +163,20 @@ i.svg-icon svg {
   margin: auto;
 }
 
-.disabled-failsafe {
+.disabled-failsafe,
+.unavailable-failsafe {
   border: 1px solid var(--v-warning-base) !important;
   position: relative;
 }
 
-.disabled-failsafe:hover {
+.disabled-failsafe:hover,
+.unavailable-failsafe:hover {
   border-color: var(--v-warning-lighten1) !important;
   box-shadow: 0 2px 8px rgba(224, 166, 0, 0.2);
 }
 
-.disabled-failsafe::after {
-  content: 'DISABLED';
+.disabled-failsafe::after,
+.unavailable-failsafe::after {
   position: absolute;
   top: 8px;
   right: 8px;
@@ -161,7 +191,16 @@ i.svg-icon svg {
   pointer-events: none;
 }
 
-.disabled-failsafe .svg-icon {
+.disabled-failsafe::after {
+  content: 'DISABLED';
+}
+
+.unavailable-failsafe::after {
+  content: 'UNAVAILABLE';
+}
+
+.disabled-failsafe .svg-icon,
+.unavailable-failsafe .svg-icon {
   opacity: 0.7;
   filter: grayscale(30%);
 }
diff --git a/core/frontend/src/components/vehiclesetup/configuration/failsafes/Failsafes.vue b/core/frontend/src/components/vehiclesetup/configuration/failsafes/Failsafes.vue
index f7f24314cf..88458d4fa8 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/failsafes/Failsafes.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/failsafes/Failsafes.vue
@@ -119,6 +119,13 @@ export default {
           generalDescription: 'Triggers when the voltage goes below specified thresholds.\n This can help to avoid '
           + 'damage to the battery and potentially loss of the vehicle.',
           image: (await import('@/assets/img/configuration/failsafes/battery.svg')).default as string,
+          dependsOn: {
+            paramName: 'BATT_MONITOR',
+            disabledValue: 0,
+            message: 'Battery monitoring is disabled (BATT_MONITOR = 0). '
+              + 'Enable a battery monitor on the Power configuration page '
+              + 'to use the low-battery failsafe.',
+          },
           params: [
             // TODO: add support for the MAH params and coloumb counting
             {
diff --git a/core/frontend/src/components/vehiclesetup/configuration/failsafes/types.ts b/core/frontend/src/components/vehiclesetup/configuration/failsafes/types.ts
index c06b788f48..22487efc52 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/failsafes/types.ts
+++ b/core/frontend/src/components/vehiclesetup/configuration/failsafes/types.ts
@@ -6,9 +6,16 @@ export interface ParamDefinitions {
   icon?: string
 }
 
+export interface FailsafeDependency {
+  paramName: string,
+  disabledValue: number,
+  message: string,
+}
+
 export interface FailsafeDefinition {
   name: string,
   generalDescription: string,
   params: ParamDefinitions[],
   image: string,
+  dependsOn?: FailsafeDependency,
 }

From 5e25fde4863c98a0e4a41b9fd7bbe944868c63fd Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Mon, 29 Jun 2026 13:10:04 -0300
Subject: [PATCH 2/4] Frontend: InlineParameterEditor: fix wrong
 setRebootRequired

---
 .../src/components/parameter-editor/InlineParameterEditor.vue   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue b/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
index 2fea8b7b5d..882f5ffff4 100644
--- a/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
+++ b/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
@@ -306,7 +306,7 @@ export default Vue.extend({
         return
       }
       if (this.param?.rebootRequired) {
-        autopilot_data.setRebootRequired(false)
+        autopilot_data.setRebootRequired(true)
       }
       this.last_sent_value = value
       mavlink2rest.setParam(this.param.name, value, autopilot_data.system_id, this.param.paramType.type)

From a515c2ea98ae87db5b21526045d4223d721d516f Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Mon, 29 Jun 2026 13:10:54 -0300
Subject: [PATCH 3/4] Frontend: fix capacity/arming voltage being hidden when
 expanding advanced parameters

---
 .../configuration/power/BatteryCard.vue       | 47 +++++++++----------
 1 file changed, 23 insertions(+), 24 deletions(-)

diff --git a/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue b/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue
index 30a0cdf172..9c0de73fd7 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue
@@ -159,31 +159,30 @@
               Adjust if the vehicle reports current draw when there is none flowing.
             </v-alert>
           </div>
-
-          <v-row v-if="capacityParam" dense align="center">
-            <v-col cols="5" class="label-col">
-              <parameter-label label="Battery Capacity" :param="capacityParam" />
-            </v-col>
-            <v-col cols="7">
-              <inline-parameter-editor
-                :param="capacityParam"
-                :auto-set="true"
-              />
-            </v-col>
-          </v-row>
-
-          <v-row v-if="armVoltParam" dense align="center">
-            <v-col cols="5" class="label-col">
-              <parameter-label label="Min Arming Voltage" :param="armVoltParam" />
-            </v-col>
-            <v-col cols="7">
-              <inline-parameter-editor
-                :param="armVoltParam"
-                :auto-set="true"
-              />
-            </v-col>
-          </v-row>
         </v-expand-transition>
+        <v-row v-if="capacityParam" dense align="center">
+          <v-col cols="5" class="label-col">
+            <parameter-label label="Battery Capacity" :param="capacityParam" />
+          </v-col>
+          <v-col cols="7">
+            <inline-parameter-editor
+              :param="capacityParam"
+              :auto-set="true"
+            />
+          </v-col>
+        </v-row>
+
+        <v-row v-if="armVoltParam" dense align="center">
+          <v-col cols="5" class="label-col">
+            <parameter-label label="Min Arming Voltage" :param="armVoltParam" />
+          </v-col>
+          <v-col cols="7">
+            <inline-parameter-editor
+              :param="armVoltParam"
+              :auto-set="true"
+            />
+          </v-col>
+        </v-row>
 
         <v-dialog v-model="show_voltage_calc" max-width="400">
           <v-card class="pa-4">

From 2822cd1d66d0556f871bdafc6992f9a021818194 Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Mon, 29 Jun 2026 13:57:19 -0300
Subject: [PATCH 4/4] Frontend: BatteryCard: show parameter labels when params
 are unavailable

Display parameter labels and a transparent "not found" indicator even when
the parameter is missing, gate the preset selector and editors on parameter
availability, and surface a reboot note with a reboot button since enable
parameters with rebootRequired can hide their dependent parameters until reboot.

Co-authored-by: Cursor <cursoragent@cursor.com>
---
 .../parameter-editor/ParameterLabel.vue       | 27 ++++----
 .../configuration/power/BatteryCard.vue       | 65 ++++++++++++++++---
 2 files changed, 72 insertions(+), 20 deletions(-)

diff --git a/core/frontend/src/components/parameter-editor/ParameterLabel.vue b/core/frontend/src/components/parameter-editor/ParameterLabel.vue
index 7748e66bc7..cd906bd79d 100644
--- a/core/frontend/src/components/parameter-editor/ParameterLabel.vue
+++ b/core/frontend/src/components/parameter-editor/ParameterLabel.vue
@@ -1,24 +1,28 @@
 <template>
   <div class="d-flex align-center">
-    <span>{{ label }}</span>
+    <span :class="{ 'text--disabled': !param }">{{ label }}</span>
     <v-tooltip bottom>
       <template #activator="{ on, attrs }">
         <v-icon
           small
           class="ml-2"
+          :color="param ? undefined : 'warning'"
           v-bind="attrs"
           v-on="on"
         >
-          mdi-information
+          {{ param ? 'mdi-information' : 'mdi-alert-circle-outline' }}
         </v-icon>
       </template>
-      <div>
-        <strong>{{ param?.name }}</strong><br>
-        <span v-if="param?.description">Description: {{ param.description }}<br></span>
-        <span v-if="param?.range">Range: {{ param.range.low }} to {{ param.range.high }}<br></span>
-        <span v-if="param?.units">Units: {{ param.units }}<br></span>
-        <span v-if="param?.options">Options: {{ formatOptions ?? formattedOptions }}<br></span>
-        <span v-if="param?.rebootRequired">Requires reboot</span>
+      <div v-if="param">
+        <strong>{{ param.name }}</strong><br>
+        <span v-if="param.description">Description: {{ param.description }}<br></span>
+        <span v-if="param.range">Range: {{ param.range.low }} to {{ param.range.high }}<br></span>
+        <span v-if="param.units">Units: {{ param.units }}<br></span>
+        <span v-if="param.options">Options: {{ formatOptions ?? formattedOptions }}<br></span>
+        <span v-if="param.rebootRequired">Requires reboot</span>
+      </div>
+      <div v-else>
+        Parameter not found. It may not be available on this vehicle or firmware version.
       </div>
     </v-tooltip>
   </div>
@@ -37,8 +41,9 @@ export default Vue.extend({
       required: true,
     },
     param: {
-      type: Object as PropType<Parameter>,
-      required: true,
+      type: Object as PropType<Parameter | undefined>,
+      default: undefined,
+      required: false,
     },
     formatOptions: {
       type: String as PropType<string | null>,
diff --git a/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue b/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue
index 9c0de73fd7..2f944109ae 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/power/BatteryCard.vue
@@ -11,15 +11,33 @@
       </span>
     </v-card-title>
     <v-card-text>
+      <v-alert
+        v-if="reboot_required"
+        type="warning"
+        dense
+        text
+        class="mb-3 caption"
+      >
+        <div class="d-flex align-center">
+          <span class="flex-grow-1">
+            Some changes require a reboot of the autopilot before they take effect.
+            Parameters may stay unavailable until the autopilot reboots.
+          </span>
+          <reboot-button class="ml-2" />
+        </div>
+      </v-alert>
+
       <v-row dense align="center">
         <v-col cols="5" class="label-col">
           <parameter-label label="Battery Monitor" :param="monitorParam" />
         </v-col>
         <v-col cols="7">
           <inline-parameter-editor
+            v-if="monitorParam"
             :param="monitorParam"
             :auto-set="true"
           />
+          <span v-else class="caption text--disabled">Not available</span>
         </v-col>
       </v-row>
 
@@ -32,12 +50,14 @@
           </v-col>
           <v-col cols="7">
             <v-select
+              v-if="sensor_params_available"
               v-model="selected_sensor"
               :items="sensor_options"
               dense
               hide-details
               @change="applySensorPreset"
             />
+            <span v-else class="caption text--disabled">Not available</span>
           </v-col>
         </v-row>
 
@@ -57,43 +77,49 @@
           <div v-if="show_advanced">
             <v-divider class="my-2" />
 
-            <v-row v-if="voltPinParam" dense align="center">
+            <v-row dense align="center">
               <v-col cols="5" class="label-col">
                 <parameter-label label="Voltage Pin" :param="voltPinParam" />
               </v-col>
               <v-col cols="7">
                 <inline-parameter-editor
+                  v-if="voltPinParam"
                   :param="voltPinParam"
                   :auto-set="true"
                 />
+                <span v-else class="caption text--disabled">Not available</span>
               </v-col>
             </v-row>
 
-            <v-row v-if="currPinParam" dense align="center">
+            <v-row dense align="center">
               <v-col cols="5" class="label-col">
                 <parameter-label label="Current Pin" :param="currPinParam" />
               </v-col>
               <v-col cols="7">
                 <inline-parameter-editor
+                  v-if="currPinParam"
                   :param="currPinParam"
                   :auto-set="true"
                 />
+                <span v-else class="caption text--disabled">Not available</span>
               </v-col>
             </v-row>
 
-            <v-row v-if="voltMultParam" dense align="center">
+            <v-row dense align="center">
               <v-col cols="5" class="label-col">
                 <parameter-label label="Voltage Multiplier" :param="voltMultParam" />
               </v-col>
               <v-col cols="7" class="d-flex align-center">
                 <div class="flex-grow-1">
                   <inline-parameter-editor
+                    v-if="voltMultParam"
                     :param="voltMultParam"
                     :auto-set="true"
                   />
+                  <span v-else class="caption text--disabled">Not available</span>
                 </div>
                 <v-btn
-                  v-if="voltage != null"
+                  v-if="voltMultParam && voltage != null"
                   x-small
                   color="primary"
                   class="ml-2"
@@ -114,19 +140,21 @@
               If the reported voltage differs from a voltmeter reading, adjust the multiplier.
             </v-alert>
 
-            <v-row v-if="ampPerVoltParam" dense align="center">
+            <v-row dense align="center">
               <v-col cols="5" class="label-col">
                 <parameter-label label="Amps per Volt" :param="ampPerVoltParam" />
               </v-col>
               <v-col cols="7" class="d-flex align-center">
                 <div class="flex-grow-1">
                   <inline-parameter-editor
+                    v-if="ampPerVoltParam"
                     :param="ampPerVoltParam"
                     :auto-set="true"
                   />
+                  <span v-else class="caption text--disabled">Not available</span>
                 </div>
                 <v-btn
-                  v-if="voltage != null"
+                  v-if="ampPerVoltParam && voltage != null"
                   x-small
                   color="primary"
                   class="ml-2"
@@ -137,15 +165,17 @@
               </v-col>
             </v-row>
 
-            <v-row v-if="ampOffsetParam" dense align="center">
+            <v-row dense align="center">
               <v-col cols="5" class="label-col">
                 <parameter-label label="Amps Offset" :param="ampOffsetParam" />
               </v-col>
               <v-col cols="7">
                 <inline-parameter-editor
+                  v-if="ampOffsetParam"
                   :param="ampOffsetParam"
                   :auto-set="true"
                 />
+                <span v-else class="caption text--disabled">Not available</span>
               </v-col>
             </v-row>
 
@@ -160,27 +190,31 @@
             </v-alert>
           </div>
         </v-expand-transition>
-        <v-row v-if="capacityParam" dense align="center">
+        <v-row dense align="center">
           <v-col cols="5" class="label-col">
             <parameter-label label="Battery Capacity" :param="capacityParam" />
           </v-col>
           <v-col cols="7">
             <inline-parameter-editor
+              v-if="capacityParam"
               :param="capacityParam"
               :auto-set="true"
             />
+            <span v-else class="caption text--disabled">Not available</span>
           </v-col>
         </v-row>
 
-        <v-row v-if="armVoltParam" dense align="center">
+        <v-row dense align="center">
           <v-col cols="5" class="label-col">
             <parameter-label label="Min Arming Voltage" :param="armVoltParam" />
           </v-col>
           <v-col cols="7">
             <inline-parameter-editor
+              v-if="armVoltParam"
               :param="armVoltParam"
               :auto-set="true"
             />
+            <span v-else class="caption text--disabled">Not available</span>
           </v-col>
         </v-row>
 
@@ -336,6 +370,7 @@ export default Vue.extend({
   components: {
     'inline-parameter-editor': () => import('@/components/parameter-editor/InlineParameterEditor.vue'),
     ParameterLabel: () => import('@/components/parameter-editor/ParameterLabel.vue'),
+    'reboot-button': () => import('@/components/utils/RebootButton.vue'),
   },
   props: {
     title: { type: String, required: true },
@@ -361,9 +396,21 @@ export default Vue.extend({
     }
   },
   computed: {
+    reboot_required(): boolean {
+      return autopilot_data.reboot_required
+    },
     monitor_enabled(): boolean {
       return this.monitorParam != null && this.monitorParam.value !== 0
     },
+    sensor_params_available(): boolean {
+      return [
+        this.voltPinParam,
+        this.currPinParam,
+        this.voltMultParam,
+        this.ampPerVoltParam,
+        this.ampOffsetParam,
+      ].every((param) => param != null)
+    },
     sensor_options(): string[] {
       return [...SENSOR_PRESETS.map((p) => p.text), 'Other']
     },