Added failsafe if parachute is not detected mid flight

msg/FailsafeFlags.msg

@@ -58,3 +58,6 @@ bool fd_critical_failure              # Critical failure (attitude/altitude limi
 bool fd_esc_arming_failure            # ESC failed to arm
 bool fd_imbalanced_prop               # Imbalanced propeller detected
 bool fd_motor_failure                 # Motor failure
+
+# Parachute
+bool parachute_unhealthy              # Parachute system missing or unhealthy

src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.cpp

@@ -42,6 +42,10 @@ void ParachuteChecks::checkAndReport(const Context &context, Report &reporter)
 		return;
 	}
 
+	reporter.failsafeFlags().parachute_unhealthy =
+		!context.status().parachute_system_present ||
+		!context.status().parachute_system_healthy;
+
 	if (!context.status().parachute_system_present) {
 		/* EVENT
 		 * @description

src/modules/commander/failsafe/failsafe.cpp

@@ -574,6 +574,9 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 		CHECK_FAILSAFE(status_flags, battery_unhealthy, Action::Warn);
 	}
 
+	// Parachute system health failsafe
+	CHECK_FAILSAFE(status_flags, parachute_unhealthy, Action::RTL);
+
 	// Battery low failsafe
 	// If battery was low and arming was allowed through COM_ARM_BAT_MIN, don't failsafe immediately for the current low battery warning state
 	const bool warning_worse_than_at_arming = (status_flags.battery_warning > _battery_warning_at_arming);