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docs(parachute): document releasing the parachute output by command

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Signed-off-by: mahima-yoga <mahima@auterion.com>
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mahima-yoga
2026-07-23 17:02:37 +02:00
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docs/en/peripherals/parachute.md
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# Parachute
PX4 can be configured to trigger a parachute during [flight termination](../advanced_config/flight_termination.md).
A parachute connected to an output can also be [released by command](#releasing-the-parachute-by-command) without terminating the flight.
The parachute can be connected to a free PWM output or via MAVLink.
@@ -87,6 +88,28 @@ A MAVLink parachute is required to emit a [HEARTBEAT](https://mavlink.io/en/mess
<!-- PX4 v1.13 support added here: https://github.com/PX4/PX4-Autopilot/pull/18589 -->
## Releasing the Parachute by Command
A parachute assigned to a flight controller output can also be released with the [MAV_CMD_DO_PARACHUTE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_PARACHUTE) command and the [PARACHUTE_RELEASE](https://mavlink.io/en/messages/common.html#PARACHUTE_ACTION) action, without going through flight termination.
The vehicle stays armed on release, and the vehicle disarms normally after landing.
:::warning
Unlike flight termination, releasing the parachute by command does not stop the motors: the active flight mode keeps controlling the vehicle.
Whatever sends the release is responsible for first putting the vehicle into a state that is safe under a parachute.
:::
To use this:
- Assign the _Parachute_ function to an output as described in [Parachute Output Bus Setup](#parachute-output-bus-setup).
- Include the `parachute` module in the firmware by setting `CONFIG_MODULES_PARACHUTE=y` in the board configuration.
Notes:
- The release is denied while the vehicle is landed, so that the parachute cannot be deployed with people around the vehicle.
- Once released, the output stays in the released position until reboot.
- Flight termination still releases the parachute output through the failsafe values.
Releasing the parachute by command does not trigger flight termination.
## Parachute Testing
:::warning