diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..51a25ab5ff897d935cf9821f845e60617af50ca4
--- /dev/null
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -0,0 +1,99 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#include <AP_Parachute.h>
+#include <AP_Relay.h>
+#include <AP_Math.h>
+#include <RC_Channel.h>
+#include <AP_HAL.h>
+
+extern const AP_HAL::HAL& hal;
+
+const AP_Param::GroupInfo AP_Parachute::var_info[] PROGMEM = {
+
+ // @Param: ENABLED
+ // @DisplayName: Parachute release enabled or disabled
+ // @Description: Parachute release enabled or disabled
+ // @Values: 0:Disabled,1:Enabled
+ // @User: Standard
+ AP_GROUPINFO("ENABLED", 0, AP_Parachute, _enabled, 0),
+
+ // @Param: TYPE
+ // @DisplayName: Parachute release mechanism type (relay or servo)
+ // @Description: Parachute release mechanism type (relay or servo)
+ // @Values: 0:Relay 0,1:Relay 1,2:Relay 2,3:Relay 3,10:Servo
+ // @User: Standard
+ AP_GROUPINFO("TYPE", 1, AP_Parachute, _release_type, AP_PARACHUTE_TRIGGER_TYPE_RELAY_0),
+
+ // @Param: SERVO_ON
+ // @DisplayName: Parachute Servo ON PWM value
+ // @Description: Parachute Servo PWM value when parachute is released
+ // @Range: 1000 2000
+ // @Units: pwm
+ // @Increment: 1
+ // @User: Standard
+ AP_GROUPINFO("SERVO_ON", 2, AP_Parachute, _servo_on_pwm, AP_PARACHUTE_SERVO_ON_PWM_DEFAULT),
+
+ // @Param: SERVO_OFF
+ // @DisplayName: Servo OFF PWM value
+ // @Description: Parachute Servo PWM value when parachute is not released
+ // @Range: 1000 2000
+ // @Units: pwm
+ // @Increment: 1
+ // @User: Standard
+ AP_GROUPINFO("SERVO_OFF", 3, AP_Parachute, _servo_off_pwm, AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT),
+
+ // @Param: ALT_MIN
+ // @DisplayName: Parachute min altitude in cm above home
+ // @Description: Parachute min altitude above home. When vehicle is below this alt parachute cannot be released
+ // @Range: 0 10000
+ // @Units: Centimeters
+ // @Increment: 100
+ // @User: Standard
+ AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min_cm, AP_PARACHUTE_ALT_MIN_DEFAULT),
+
+ AP_GROUPEND
+};
+
+
+/// release - release parachute
+void AP_Parachute::release()
+{
+ // exit immediately if not enabled
+ if (_enabled <= 0) {
+ return;
+ }
+
+ // trigger the servo or relay
+ if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
+ RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_on_pwm);
+ }else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
+ _relay.on(_release_type);
+ }
+
+ // leave a message that it should be active for this many loops (assumes 50hz loops)
+ _release_time = hal.scheduler->millis();
+}
+
+/// update - shuts off the trigger should be called at about 10hz
+void AP_Parachute::update()
+{
+ // exit immediately if not enabled or parachute not released
+ if (_enabled <= 0 || _release_time == 0) {
+ return;
+ }
+
+ // check if release mechanism has been triggered more than 1 second ago
+ if (hal.scheduler->millis() - _release_time > AP_PARACHUTE_RELEASE_DURATION_MS) {
+ // trigger the servo or relay
+ if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
+ // move servo back to off position
+ RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_off_pwm);
+ }else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
+ // set relay back to zero volts
+ _relay.on(_release_type);
+ }
+
+ // reset release_time
+ _release_time = 0;
+ }
+}
diff --git a/libraries/AP_Parachute/AP_Parachute.h b/libraries/AP_Parachute/AP_Parachute.h
new file mode 100644
index 0000000000000000000000000000000000000000..aa1732310c380c9271053269b2d73fce4eabe0dd
--- /dev/null
+++ b/libraries/AP_Parachute/AP_Parachute.h
@@ -0,0 +1,71 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/// @file AP_Parachute.h
+/// @brief Parachute release library
+
+#ifndef AP_PARACHUTE_H
+#define AP_PARACHUTE_H
+
+#include <AP_Param.h>
+#include <AP_Common.h>
+#include <AP_Relay.h>
+
+#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_0 0
+#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_1 1
+#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_2 2
+#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_3 3
+#define AP_PARACHUTE_TRIGGER_TYPE_SERVO 10
+
+#define AP_PARACHUTE_RELEASE_DURATION_MS 1000 // when parachute is released, servo or relay stay at their released position/value for 1000ms (1second)
+
+#define AP_PARACHUTE_SERVO_ON_PWM_DEFAULT 1300 // default PWM value to move servo to when shutter is activated
+#define AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT 1100 // default PWM value to move servo to when shutter is deactivated
+
+#define AP_PARACHUTE_ALT_MIN_DEFAULT 1000 // default min altitude the vehicle should have before parachute is released
+
+/// @class AP_Parachute
+/// @brief Class managing the release of a parachute
+class AP_Parachute {
+
+public:
+
+ /// Constructor
+ AP_Parachute(AP_Relay& relay) :
+ _relay(relay),
+ _release_time(0)
+ {
+ // setup parameter defaults
+ AP_Param::setup_object_defaults(this, var_info);
+ }
+
+ /// enabled - enable or disable parachute release
+ void enabled(bool on_off) { _enabled = on_off; }
+
+ /// enabled - returns true if parachute release is enabled
+ bool enabled() const { return _enabled; }
+
+ /// release - release parachute
+ void release();
+
+ /// update - shuts off the trigger should be called at about 10hz
+ void update();
+
+ /// alt_min_cm - returns the min altitude above home the vehicle should have before parachute is released
+ int16_t alt_min_cm() const { return _alt_min_cm; }
+
+ static const struct AP_Param::GroupInfo var_info[];
+
+private:
+ // Parameters
+ AP_Int8 _enabled; // 1 if parachute release is enabled
+ AP_Int8 _release_type; // 0:Servo,1:Relay
+ AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated
+ AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
+ AP_Int16 _alt_min_cm; // min altitude the vehicle should have before parachute is released
+
+ // internal variables
+ AP_Relay& _relay; // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2
+ uint32_t _release_time; // count of number of cycles servo or relay has been at on position
+};
+
+#endif /* AP_PARACHUTE_H */