From d0972b4e99d757faa61b22db8dc1deaee66f3bba Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 16 Apr 2026 14:18:52 +1000 Subject: [PATCH] docs(update): Subedit --- docs/en/config/safety.md | 11 ++++------- docs/en/peripherals/parachute.md | 1 + 2 files changed, 5 insertions(+), 7 deletions(-) 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 -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 | -| -------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | -| [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 | +| -------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [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.

On failsafe:
- `Error`, `Return`, and `Land` prevent arming.
- `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).