I am currently setting up several multirotors with parachutes and I am wondering how the logic behind the parameter CHUTE_CRT_SINK is working. Obviously I am trying to avoid a parachute being fired, if everything is still under control.
if the critical sinkrate (let’s say 5m/s) is exceeded during a rapid descent under control (for example in STABILIZE mode with zero throttle → copter is practically free falling, but remains in attitude control), the parachute would NOT deploy? Can anyone confirm this? The only thing I can find about it is this discussion:
Parachute: add documentation re CHUTE_CRT_SINK parameter · Issue #3066 · ArduPilot/ardupilot_wiki · GitHub
the documentation says, the parachute will deploy if an angle discrepancy of more than 30° occurs.
Parachute — Copter documentation
So one case I can think of, when CHUTE_CRT_SINK kicks in is, if there is a power loss, and the UAS remains in a level free fall and exceeding the critical sinkrate.
Is that the purpose or am I missing something?
Are you guys using this parameter, or do you set it to zero?
It’s kind of terrifying, because you can’t really test it. You “just” set it up, after checking your max sinkrate in the logs and put a safety factor on it and hope it won’t kill your setup.
Thanks a lot!