From e2d41a3e04ad7df10a79312c1324d1fa9d1f89dd Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 16 Sep 2020 15:22:17 +0900
Subject: [PATCH] Copter: integrate parachute check_sink_rate

also move set_is_flying into check parachute to increase it's update rate
---
 ArduCopter/Copter.cpp      |  4 ----
 ArduCopter/crash_check.cpp | 12 +++++++++---
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index a3748b80f8..f64042b9b8 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -517,10 +517,6 @@ void Copter::one_hz_loop()
     adsb.set_is_flying(!ap.land_complete);
 #endif
 
-#if PARACHUTE == ENABLED
-    parachute.set_is_flying(!ap.land_complete);
-#endif
-    
     AP_Notify::flags.flying = !ap.land_complete;
 }
 
diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
index 96b64c929e..dbef41a7eb 100644
--- a/ArduCopter/crash_check.cpp
+++ b/ArduCopter/crash_check.cpp
@@ -178,6 +178,12 @@ void Copter::parachute_check()
         return;
     }
 
+    // pass is_flying to parachute library
+    parachute.set_is_flying(!ap.land_complete);
+
+    // pass sink rate to parachute library
+    parachute.set_sink_rate(-inertial_nav.get_velocity_z() * 0.01f);
+
     // exit immediately if in standby
     if (standby_active) {
         return;
@@ -214,9 +220,9 @@ void Copter::parachute_check()
         return;
     }
 
-    // pass sink rate to parachute library
-    parachute.set_sink_rate(-inertial_nav.get_velocity_z() * 0.01);
-    
+    // trigger parachute release based on sink rate
+    parachute.check_sink_rate();
+
     // check for angle error over 30 degrees
     const float angle_error = attitude_control->get_att_error_angle_deg();
     if (angle_error <= CRASH_CHECK_ANGLE_DEVIATION_DEG) {