diff --git a/ArduCopter/crash_check.pde b/ArduCopter/crash_check.pde index eaddb8d6b4..26701c90ae 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