From 9bf9e0ede963c2c69364d7ef273e8157a3b7797c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 7 Apr 2014 12:16:57 +0900
Subject: [PATCH] Copter: check parachute is enabled before manual_release
---
ArduCopter/crash_check.pde | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/ArduCopter/crash_check.pde b/ArduCopter/crash_check.pde
index eaddb8d6b..26701c90a 100644
--- a/ArduCopter/crash_check.pde
+++ b/ArduCopter/crash_check.pde
@@ -156,8 +156,6 @@ void parachute_check()
// parachute_release - trigger the release of the parachute, disarm the motors and notify the user
static void parachute_release()
{
- // To-Do: add warning tone and short delay before triggering release
-
// send message to gcs and dataflash
gcs_send_text_P(SEVERITY_HIGH,PSTR("Parachute: Released!"));
Log_Write_Event(DATA_PARACHUTE_RELEASED);
@@ -173,6 +171,11 @@ static void parachute_release()
// checks if the vehicle is landed
static void parachute_manual_release()
{
+ // exit immediately if parachute is not enabled
+ if (!parachute.enabled()) {
+ return;
+ }
+
// do not release if we are landed or below the minimum altitude above home
if (ap.land_complete || (parachute.alt_min() != 0 && (baro_alt < (uint32_t)parachute.alt_min() * 100))) {
// warn user of reason for failure
--
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