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Plane:disarm on parachute release FS

This commit is contained in:
Henry Wurzburg 2023-08-07 11:07:16 -05:00 committed by Andrew Tridgell
parent e6ac368972
commit d8e205dd39
1 changed files with 5 additions and 0 deletions
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5
ArduPlane/events.cpp
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@ -131,6 +131,8 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) { if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
parachute_release(); parachute_release();
//stop motors to avoide parachute tangling
plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
#endif #endif
} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) { } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
set_mode(mode_fbwa, reason); set_mode(mode_fbwa, reason);
@ -168,9 +170,12 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
case Mode::Number::AVOID_ADSB: case Mode::Number::AVOID_ADSB:
case Mode::Number::GUIDED: case Mode::Number::GUIDED:
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) { if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
parachute_release(); parachute_release();
//stop motors to avoide parachute tangling
plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
#endif #endif
} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) { } else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
set_mode(mode_fbwa, reason); set_mode(mode_fbwa, reason);