TMZ Sports has obtained docs showing attorneys for the former Miami Dolphins lineman appeared in L.A. County Superior Court last week to ask the judge for his release from a facility in Malibu.

As we previously reported, Martin was arrested back in February after posting a threatening photo on social media featuring a gun and bullets. Martin had included a cryptic message aimed at former teammates and classmates.

When cops located Martin, they found several weapons including a loaded gun, a knife and an axe. He was immediately detained and transferred to a facility for mental evaluation.

The L.A. County D.A. later hit Martin with 5 charges ... 4 counts of making criminal threats and 1 count of possessing a loaded firearm.

Now, after the clinical director at the treatment facility vouched for Martin in court, the judge allowed him to be released with several conditions:

1) He must be fitted with a GPS and alcohol monitoring ankle bracelet

2) He must attend outpatient treatment 5 days a week from 9 AM to 5 PM

3) He's also been ordered to stay away from Harvard-Westlake high school in L.A. and the Miami Dolphins organization -- specifically, his former teammates Richie Incognito and Mike Pouncey.