def cmd_parachute(self, args):
        '''parachute control'''
        usage = "Usage: parachute <enable|disable|release>"
        if len(args) != 1:
            print(usage)
            return

        cmds = {
            'enable'  : mavutil.mavlink.PARACHUTE_ENABLE,
            'disable' : mavutil.mavlink.PARACHUTE_DISABLE,
            'release' : mavutil.mavlink.PARACHUTE_RELEASE
            }
        if not args[0] in cmds:
            print(usage)
            return
        cmd = cmds[args[0]]
        self.master.mav.command_long_send(
            self.settings.target_system,  # target_system
            0, # target_component
            mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
            0,
            cmd,
            0, 0, 0, 0, 0, 0)
parachute control