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Arduplane/quadplane.cpp: shut down motors when parachute released #14273

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Arduplane/quadplane.cpp: shut down motors when parachute released #14273

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12 changes: 12 additions & 0 deletions ArduPlane/quadplane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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) {
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