diff --git a/docs/en/config/safety.md b/docs/en/config/safety.md
index 7d193665b0e..a2606f41a1a 100644
--- a/docs/en/config/safety.md
+++ b/docs/en/config/safety.md
@@ -267,14 +267,11 @@ The failsafe action and arming behaviour are both configured by the `COM_ARM_ODI
 
 <Badge type="tip" text="PX4 v1.18" />
 
-The parachute health failsafe is triggered when a [MAVLink parachute](../peripherals/parachute.md) system is missing or unhealthy while the vehicle is armed and airborne.
+The parachute health failsafe is triggered when a [MAVLink parachute](../peripherals/parachute.md) system is missing or unhealthy while the vehicle is armed or airborne.
 
-| Parameter                                                                                          | Description                                                                                                                                           |
-| -------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_PARACHUTE"></a>[COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) | Parachute system monitoring and failsafe action. `0`: Disabled (default), `1`: Warning only, `2`: Error only, `3`: Return, `4`: Land. |
-
-Values `2`–`4` prevent arming when the parachute system is not present and healthy.
-Values `3`–`4` also trigger the configured failsafe action if the parachute system is missing or unhealthy while airborne.
+| Parameter                                                                                          | Description                                                                                                                                                                                                                                                                                            |
+| -------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| <a id="COM_PARACHUTE"></a>[COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) | Parachute system monitoring and failsafe action. `0`: Disabled (default), `1`: Warning only, `2`: Error only (prevent arming), `3`: Return, `4`: Land.<br><br>On failsafe:<br>- `Error`, `Return`, and `Land` prevent arming.<br>- `Return` and `Land` start the associated action/mode when airborne. |
 
 ## Quad-chute Failsafe
 
diff --git a/docs/en/peripherals/parachute.md b/docs/en/peripherals/parachute.md
index 6e8572a7382..2334467f8ff 100644
--- a/docs/en/peripherals/parachute.md
+++ b/docs/en/peripherals/parachute.md
@@ -76,6 +76,7 @@ PX4 will trigger a connected and healthy parachute on failsafe by sending the co
 
 MAVLink parachute support is enabled by setting the parameter [COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) to a non-zero value.
 The parameter also configures the arming check and in-flight failsafe action when the parachute system is missing or unhealthy (see [Parachute Health Failsafe](../config/safety.md#parachute-health-failsafe)).
+
 PX4 will then indicate parachute status using the [MAV_SYS_STATUS_RECOVERY_SYSTEM](https://mavlink.io/en/messages/common.html#MAV_SYS_STATUS_RECOVERY_SYSTEM) bit in the [SYS_STATUS](https://mavlink.io/en/messages/common.html#SYS_STATUS) extended onboard control sensors fields:
 
 - `SYS_STATUS.onboard_control_sensors_present_extended`: MAVLink parachute present (based on heartbeat detection).