[v1.15] Kill gesture docs (#3316) (#3405)

* Kill gesture docs * Add release note * Update en/config/safety.md * Prettier --------- Co-authored-by: Matthias Grob <[email protected]>
PX4 · Oct 10, 2024 · 3aef18c · 3aef18c
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diff --git a/en/advanced_config/prearm_arm_disarm.md b/en/advanced_config/prearm_arm_disarm.md
@@ -57,9 +57,9 @@ Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in
 
 | Parameter                                                                                                | Description                                                                                                          |
 | -------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
-| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, **`1`**: Enabled (default).                                             |
+| <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default).                                             |
 | <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN)    | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
-| <a id="COM_RC_ARM_HYST"></a>[COM_RC_ARM_HYST](../advanced_config/parameter_reference.md#COM_RC_ARM_HYST) | Time that RC stick must be held in arm/disarm position before arming/disarming occurs (default: 1 second).           |
+| <a id="COM_RC_ARM_HYST"></a>[COM_RC_ARM_HYST](../advanced_config/parameter_reference.md#COM_RC_ARM_HYST) | Time that RC stick must be held in arm/disarm position before arming/disarming occurs (default: `1` second).         |
 
 ## Arming Button/Switch {#arm_disarm_switch}
 

diff --git a/en/config/safety.md b/en/config/safety.md
@@ -321,9 +321,17 @@ This section lists the available emergency switches.
 
 ### Kill Switch
 
-A kill switch immediately stops all motor outputs (and if flying, the vehicle will start to fall)!
-The motors will restart if the switch is reverted within 5 seconds.
-After 5 seconds the vehicle will automatically disarm; you will need to arm it again in order to start the motors.
+A kill switch immediately stops all motor outputs — if flying, the vehicle will start to fall!
+
+[By default](#COM_KILL_DISARM) the motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors.
+
+| Parameter                                                                                                | Description                                                                     |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
+| <a id="COM_KILL_DISARM"></a>[COM_KILL_DISARM](../advanced_config/parameter_reference.md#COM_KILL_DISARM) | Timeout value for disarming after kill switch is engaged. Default: `5` seconds. |
+
+::: info
+There is also a [Kill Gesture](#kill-gesture), which cannot be reverted.
+:::
 
 ### Arm/Disarm Switch
 
@@ -357,6 +365,16 @@ This includes _Position mode_ and autonomous modes (e.g. _Mission_, _Land_ etc.)
 
 A return switch can be used to immediately engage [Return mode](../flight_modes/return.md).
 
+## Kill Gesture
+
+A kill gesture immediately stops all motor outputs — if flying, the vehicle will start to fall!
+
+The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within the time period defined by [COM_KILL_DISARM](#COM_KILL_DISARM)).
+
+| Parameter                                                                                                | Description                                                                                          |
+| -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------- |
+| <a id="MAN_KILL_GEST_T"></a>[MAN_KILL_GEST_T](../advanced_config/parameter_reference.md#MAN_KILL_GEST_T) | Time to hold sticks in gesture position before killing the motors. Default: `-1` seconds (Disabled). |
+
 ## Arming/Disarming Settings
 
 The [commander module](../advanced_config/parameter_reference.md#commander) has a number of parameters prefixed with `COM_ARM` that configure whether the vehicle can arm at all, and under what conditions (note that some parameters named with the prefix `COM_ARM` are used to arm other systems).

diff --git a/en/releases/1.15.md b/en/releases/1.15.md
@@ -62,6 +62,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 - **[Improvement]** Commander: make failsafe warnings shorter ([PX4-Autopilot#22886](https://github.com/PX4/PX4-Autopilot/pull/22886))
 - Support for a remote parameter database ([PX4-Autopilot#22836](https://github.com/PX4/PX4-Autopilot/pull/22836))
 - New platform independent UART interface ([PX4-Autopilot#21723](https://github.com/PX4/PX4-Autopilot/pull/21723))
+- **[Improvement]** A one-way [Kill Gesture](../config/safety.md#kill-gesture) has been added, allowing you to stop the motors at any time. This is disabled by default. [PX4-Autopilot#18509](https://github.com/PX4/PX4-Autopilot/pull/18509).
 
 ### Control