From 9b438d7aadcb54ea1ea89753f64794784a36ea57 Mon Sep 17 00:00:00 2001
From: david sastre <davidsastresas@gmail.com>
Date: Sun, 3 May 2020 23:54:30 +0200
Subject: [PATCH] quadplane.cpp: shut down motors when parachute released

---
 ArduPlane/quadplane.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index f6faed8ef3250..be2dff69e780f 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1856,6 +1856,18 @@ void QuadPlane::update(void)
  */
 void QuadPlane::update_throttle_suppression(void)
 {
+#if PARACHUTE == ENABLED
+    // if parachute has been released shut down motors
+    if (plane.parachute.release_initiated()) {
+        motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
+        
+        // set throttle to 0 for correct last_motors_active_ms behaviour
+        motors->set_throttle(0);
+        last_motors_active_ms = 0;
+        return;
+    }
+#endif
+
     // if the motors have been running in the last 2 seconds then
     // allow them to run now
     if (AP_HAL::millis() - last_motors_active_ms < 2000) {