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to lift, you have to press X  and slowly approach to the cargo. If you slowly decrease the altitude and immediately go up after the cargo linked you can life it safely.

Parachuting is dead simple, just press E and  press S when you are falling (parachete can't be opened if you are going up, so press S several times until it opens.) use it. you don't need a complicated command.

Well the thing is it's not always possible to approach slowly to the cargo. Sometimes enemies just don't give this opportunity. As for parachuting - well I know how to do it but during action it's easy to forget right button or press wrong button. It would be more convenient just to press E again in the air to open parachute.