Detecting unhealthy motor or ESC in flight

We wonder if there is any possibility in detecting faulty motors or ESC during flight. We setup up a hexa with DShot and ESC sending telemetry of each motor (A, rpm, temp). Now the question is how to identify via PX4 if one of the motors is not acting normally, for safety reasons immediately initiating a landing.
I know that it works if there is a companion onboard monitoring the statuses. But is there some parameter possibility for doing it?

Not an expert on fault detection but if the data to determine if there is a motor failure is available to the companion computer it must also be available to the flight controller as well. I don’t know of anyone doing that work within PX4 but with this the new control allocation module it would be a great combination.