diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp index e53a6ff31a..9a8cc1a9e9 100644 --- a/libraries/AP_Parachute/AP_Parachute.cpp +++ b/libraries/AP_Parachute/AP_Parachute.cpp @@ -4,6 +4,7 @@ #include #include #include +#include #include extern const AP_HAL::HAL& hal; @@ -72,6 +73,9 @@ void AP_Parachute::release() // leave a message that it should be active for this many loops (assumes 50hz loops) _release_time = hal.scheduler->millis(); + + // update AP_Notify + AP_Notify::flags.parachute_release = 1; } /// update - shuts off the trigger should be called at about 10hz @@ -90,10 +94,13 @@ void AP_Parachute::update() 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); + _relay.off(_release_type); } // reset release_time _release_time = 0; + + // update AP_Notify + AP_Notify::flags.parachute_release = 0; } }