diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg
index 089934f103..6d69141068 100644
--- a/msg/vehicle_command.msg
+++ b/msg/vehicle_command.msg
@@ -120,6 +120,10 @@ uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1      # Continuous zoom up/down unt
 uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2           # Zoom value as proportion of full camera range
 uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3    # Zoom to a focal length
 
+uint8 PARACHUTE_ACTION_DISABLE = 0
+uint8 PARACHUTE_ACTION_ENABLE = 1
+uint8 PARACHUTE_ACTION_RELEASE = 2
+
 uint8 FAILURE_UNIT_SENSOR_GYRO = 0
 uint8 FAILURE_UNIT_SENSOR_ACCEL = 1
 uint8 FAILURE_UNIT_SENSOR_MAG = 2
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 3cf8a473c2..10cabc1547 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -915,6 +915,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 
 	case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
 			if (cmd.param1 > 1.5f) {
+				// Test termination command triggers lockdown but not actual termination.
 				if (!_lockdown_triggered) {
 					_armed.lockdown = true;
 					_lockdown_triggered = true;
@@ -922,16 +923,12 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				}
 
 			} else if (cmd.param1 > 0.5f) {
-				//XXX update state machine?
+				// Trigger real termination.
 				if (!_flight_termination_triggered) {
 					_armed.force_failsafe = true;
 					_flight_termination_triggered = true;
 					PX4_WARN("forcing failsafe (termination)");
-				}
-
-				if ((int)cmd.param2 <= 0) {
-					/* reset all commanded failure modes */
-					PX4_WARN("reset all non-flighttermination failsafe commands");
+					send_parachute_command();
 				}
 
 			} else {
@@ -2170,9 +2167,15 @@ Commander::run()
 
 				case (geofence_result_s::GF_ACTION_TERMINATE) : {
 						PX4_WARN("Flight termination because of geofence");
-						mavlink_log_critical(&_mavlink_log_pub, "Geofence violation! Flight terminated");
-						_armed.force_failsafe = true;
-						_status_changed = true;
+
+						if (!_flight_termination_triggered && !_lockdown_triggered) {
+							_flight_termination_triggered = true;
+							mavlink_log_critical(&_mavlink_log_pub, "Geofence violation! Flight terminated");
+							_armed.force_failsafe = true;
+							_status_changed = true;
+							send_parachute_command();
+						}
+
 						break;
 					}
 				}
@@ -2220,12 +2223,13 @@ Commander::run()
 		if (_armed.armed && _mission_result_sub.get().flight_termination &&
 		    !_status_flags.circuit_breaker_flight_termination_disabled) {
 
-			_armed.force_failsafe = true;
-			_status_changed = true;
 
-			if (!_flight_termination_printed) {
+			if (!_flight_termination_triggered && !_lockdown_triggered) {
 				mavlink_log_critical(&_mavlink_log_pub, "Geofence violation! Flight terminated");
-				_flight_termination_printed = true;
+				_flight_termination_triggered = true;
+				_armed.force_failsafe = true;
+				_status_changed = true;
+				send_parachute_command();
 			}
 
 			if (_counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
@@ -2474,9 +2478,9 @@ Commander::run()
 
 				if (_status.failure_detector_status & (vehicle_status_s::FAILURE_ROLL | vehicle_status_s::FAILURE_PITCH |
 								       vehicle_status_s::FAILURE_ALT | vehicle_status_s::FAILURE_EXT)) {
-					const bool is_second_after_takeoff = hrt_elapsed_time(&_status.takeoff_time) < (1_s * _param_com_lkdown_tko.get());
+					const bool is_right_after_takeoff = hrt_elapsed_time(&_status.takeoff_time) < (1_s * _param_com_lkdown_tko.get());
 
-					if (is_second_after_takeoff && !_lockdown_triggered) {
+					if (is_right_after_takeoff && !_lockdown_triggered) {
 						// This handles the case where something fails during the early takeoff phase
 						_armed.lockdown = true;
 						_lockdown_triggered = true;
@@ -2488,7 +2492,7 @@ Commander::run()
 						_armed.force_failsafe = true;
 						_flight_termination_triggered = true;
 						mavlink_log_emergency(&_mavlink_log_pub, "Critical failure detected: terminate flight");
-						set_tune_override(tune_control_s::TUNE_ID_PARACHUTE_RELEASE);
+						send_parachute_command();
 					}
 				}
 			}
@@ -4056,6 +4060,25 @@ void Commander::esc_status_check()
 	_last_esc_status_updated = esc_status.timestamp;
 }
 
+void Commander::send_parachute_command()
+{
+	vehicle_command_s vcmd{};
+	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_PARACHUTE;
+	vcmd.param1 = static_cast<float>(vehicle_command_s::PARACHUTE_ACTION_RELEASE);
+
+	uORB::SubscriptionData<vehicle_status_s> vehicle_status_sub{ORB_ID(vehicle_status)};
+	vcmd.source_system = vehicle_status_sub.get().system_id;
+	vcmd.target_system = vehicle_status_sub.get().system_id;
+	vcmd.source_component = vehicle_status_sub.get().component_id;
+	vcmd.target_component = 161; // MAV_COMP_ID_PARACHUTE
+
+	uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
+	vcmd.timestamp = hrt_absolute_time();
+	vcmd_pub.publish(vcmd);
+
+	set_tune_override(tune_control_s::TUNE_ID_PARACHUTE_RELEASE);
+}
+
 int Commander::print_usage(const char *reason)
 {
 	if (reason) {
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index c95313a22f..6b696295da 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -187,6 +187,8 @@ private:
 
 	bool stabilization_required();
 
+	void send_parachute_command();
+
 	DEFINE_PARAMETERS(
 
 		(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
@@ -373,7 +375,6 @@ private:
 	bool		_failsafe_old{false};	///< check which state machines for changes, clear "changed" flag
 	bool		_have_taken_off_since_arming{false};
 	bool		_should_set_home_on_takeoff{true};
-	bool		_flight_termination_printed{false};
 	bool		_system_power_usb_connected{false};
 
 	cpuload_s		_cpuload{};