From 63c88fea5822a85d80ec28e2492250f657f7e6ac Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 19 Sep 2023 18:37:08 +1000
Subject: [PATCH] Plane: handle DO_PARACHUTE as both COMMAND_LONG and
 COMMAND_INT

---
 ArduPlane/GCS_Mavlink.cpp | 18 +++++++++++++-----
 ArduPlane/GCS_Mavlink.h   |  1 +
 2 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index d4b5d199e7..4140bb1ea4 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -984,6 +984,11 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
     case MAV_CMD_DO_CHANGE_SPEED:
         return handle_command_DO_CHANGE_SPEED(packet);
 
+#if PARACHUTE == ENABLED
+    case MAV_CMD_DO_PARACHUTE:
+        return handle_MAV_CMD_DO_PARACHUTE(packet);
+#endif
+
 #if HAL_QUADPLANE_ENABLED
     case MAV_CMD_DO_MOTOR_TEST:
         return handle_MAV_CMD_DO_MOTOR_TEST(packet);
@@ -1059,8 +1064,14 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
         plane.autotune_enable(!is_zero(packet.param1));
         return MAV_RESULT_ACCEPTED;
 
+    default:
+        return GCS_MAVLINK::handle_command_long_packet(packet, msg);
+    }
+}
+
 #if PARACHUTE == ENABLED
-    case MAV_CMD_DO_PARACHUTE:
+MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet)
+{
         // configure or release parachute
         switch ((uint16_t)packet.param1) {
         case PARACHUTE_DISABLE:
@@ -1087,12 +1098,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
             break;
         }
         return MAV_RESULT_FAILED;
+}
 #endif
 
-    default:
-        return GCS_MAVLINK::handle_command_long_packet(packet, msg);
-    }
-}
 
 #if HAL_QUADPLANE_ENABLED
 MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet)
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 5d4b8533b1..27bb6e16c6 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -56,6 +56,7 @@ private:
     MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
     MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
+    MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
 
     bool try_send_message(enum ap_message id) override;