fix: conditional CRASH_CHECK_TRIGGER_SEC value

ArduCopter/crash_check.cpp

@@ -1,7 +1,13 @@
 #include "Copter.h"
 
 // Code to detect a crash main ArduCopter code
-#define CRASH_CHECK_TRIGGER_SEC         2       // 2 seconds inverted indicates a crash
+#if PARACHUTE == ENABLED
+    // CRASH_CHECK_TRIGGER_SEC should be grater than CHUTE_TIMEOUT, to prevent disarming without deploying parachute
+    #define CRASH_CHECK_TRIGGER_SEC parachute.get_chute_timeout() + 1.0f
+#else
+    #define CRASH_CHECK_TRIGGER_SEC         2       // 2 seconds inverted indicates a crash
+#endif
+
 #define CRASH_CHECK_ANGLE_DEVIATION_DEG 30.0f   // 30 degrees beyond target angle is signal we are out of control
 #define CRASH_CHECK_ANGLE_MIN_DEG       15.0f   // vehicle must be leaning at least 15deg to trigger crash check
 #define CRASH_CHECK_SPEED_MAX           10.0f   // vehicle must be moving at less than 10m/s to trigger crash check
@@ -86,7 +92,7 @@ void Copter::crash_check()
     // we may be crashing
     crash_counter++;
 
-    // check if crashing for 2 seconds
+    // check if crashing for time defined by CRASH_CHECK_TRIGGER_SEC seconds
     if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
         LOGGER_WRITE_ERROR(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
         // send message to gcs