feat(commander): extend COM_PARACHUTE to configure parachute failsafe by gguidone · Pull Request #26918 · PX4/PX4-Autopilot

gguidone · 2026-03-31T15:56:19Z

Solved Problem

Previously, the parachute health failsafe was hardcoded to RTL and enabling/configuring the check required two separate parameters. This is too restrictive for mission profiles where a simple warning or landing is preferred.

Solution

Unified COM_PARACHUTE into a single enum that controls both whether the check is active and what action is taken:

Disabled (0, Default)
Warning only (1), orange indicator, does not block arming
Error and blocks arming (2), red indicator, warns in flight
Return and blocks arming (3)
Land and blocks arming (4)

Values ≥ 2 block arming.

Test coverage

SITL: Verified all six COM_PARACHUTE values behave correctly upon failure injection.
SITL: Confirmed warning-only mode shows orange indicator and does not block arming.
SITL: Confirmed values ≥ 2 block arming and trigger the correct in-flight failsafe action.

github-actions · 2026-03-31T16:04:19Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 192 byte (0.01 %)]

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Updated: 2026-03-31T16:04:18

github-actions · 2026-04-13T12:16:59Z

🔎 FLASH Analysis

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Updated: 2026-04-23T15:49:42

hamishwillee

This needs docs - the main page for failsafes is here https://docs.px4.io/main/en/config/safety

You should add a badge like <Badge type="tip" text="PX4 v1.18" /> to the new section.

This may also need update to https://docs.px4.io/main/en/peripherals/parachute and https://docs.px4.io/main/en/advanced_config/flight_termination

Also a release note here https://docs.px4.io/main/en/releases/main

Non-blocking, but is there a planned QGC safety panel update. Makes things easier for users.

@gguidone If you need help, ping me.

github-actions · 2026-04-15T09:19:32Z

💡 Commit messages could be improved

Not blocking, but these commit messages could use some cleanup.

Commit	Message	Suggestion
`73db052b22`	docs: add parachute health failsafe documentation	Missing conventional commit format (e.g. "feat(ekf2): add something")

See the commit message convention for details.

This comment will be automatically removed once the issues are resolved.

github-actions · 2026-04-15T09:40:33Z

No broken links found in changed files.

hamishwillee

Approved for the docs part - thanks for the work, and advice on the enabled bit.

Note, there are some merge conflicts

…ilsafe Previously the parachute unhealthy failsafe was hardcoded to RTL.

Update safety.md, peripherals/parachute.md, and releases/main.md to document the extended COM_PARACHUTE parameter and the new configurable in-flight failsafe behaviour.

MaEtUgR reviewed Mar 31, 2026

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gguidone force-pushed the gg/parachute-action branch from a98093f to ced41d1 Compare April 13, 2026 12:10

bresch reviewed Apr 13, 2026

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gguidone force-pushed the gg/parachute-action branch from ced41d1 to 25b24c8 Compare April 14, 2026 12:15

gguidone requested a review from bresch April 14, 2026 15:27

hamishwillee requested changes Apr 14, 2026

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gguidone changed the title ~~feat(commander): add COM_PARA_ACT to configure parachute failsafe~~ feat(commander): extend COM_PARACHUTE to configure parachute failsafe Apr 15, 2026

github-actions Bot added the Documentation 📑 label Apr 15, 2026

hamishwillee force-pushed the gg/parachute-action branch from c719bd3 to b2f6cc6 Compare April 16, 2026 04:07

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hamishwillee reviewed Apr 16, 2026

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Comment thread docs/en/config/safety.md

gguidone requested a review from hamishwillee April 20, 2026 08:06

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hamishwillee previously approved these changes Apr 23, 2026

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gguidone and others added 4 commits April 23, 2026 17:39

feat(commander): add COM_PARA_ACT to configure parachute unhealthy fa…

c19ea51

…ilsafe Previously the parachute unhealthy failsafe was hardcoded to RTL.

docs: add parachute health failsafe documentation

73db052

Update safety.md, peripherals/parachute.md, and releases/main.md to document the extended COM_PARACHUTE parameter and the new configurable in-flight failsafe behaviour.

docs(update): Subedit

d0972b4

docs(update): Parachute enabled extended addition

a7c79ef

gguidone dismissed hamishwillee’s stale review via a7c79ef April 23, 2026 15:42

gguidone force-pushed the gg/parachute-action branch from 5ac205b to a7c79ef Compare April 23, 2026 15:42

gguidone requested a review from MaEtUgR April 23, 2026 16:00

hamishwillee added scope:docs and removed Documentation 📑 labels Apr 26, 2026

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feat(commander): extend COM_PARACHUTE to configure parachute failsafe#26918

feat(commander): extend COM_PARACHUTE to configure parachute failsafe#26918
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