Electrical interface

5.3 7.1 -

Failure Mode	Detection	Isolation / Safe Mode	Recovery
Sensor bias / dropout	Redundancy, out-of-range checks, rate checks, residuals	Flag sensor invalidity, use backup, and reduce authoriuty	Sensor reset → offset compensation where valid
Unexpected torque	Model vs measured residuals	Switch to damping mode, inhibit impulses	Let residuals decay and re-estimate states
Spin-axis misalignment	Orientation vs expected dynamics	Reduce authority, re-acquisition	Re-estimate axis and update control parameters
Partial power loss	Voltage / Current thresholds	Disable non-essential processes and maintain survival	Gradually restore functions as power stabilizes

FDIR = Continuously:

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