Copter: added in sink rate for parachute check

2019-02-22 07:05:35 +11:00 · 2019-02-22 07:05:35 +11:00 · 55dca5cda9
parent c710002bc9
commit 55dca5cda9
1 changed files with 3 additions and 0 deletions
--- a/ArduCopter/crash_check.cpp
+++ b/ArduCopter/crash_check.cpp
@ -201,6 +201,9 @@ void Copter::parachute_check()
        // release parachute
        parachute_release();
    }
+
+    // pass sink rate to parachute library
+    parachute.set_sink_rate(-inertial_nav.get_velocity_z() * 0.01);
 }

 // parachute_release - trigger the release of the parachute, disarm the motors and notify the user