diff --git a/docs/en/peripherals/parachute.md b/docs/en/peripherals/parachute.md index d67750ca977..54edd0a9c2b 100644 --- a/docs/en/peripherals/parachute.md +++ b/docs/en/peripherals/parachute.md @@ -1,6 +1,7 @@ # 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 +## 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