Common: add WINCH_STATUS message (mavlink#1432)

message_definitions/v1.0/common.xml

@@ -4729,6 +4729,21 @@
         <description>Unit is sometimes working, sometimes not.</description>
       </entry>
     </enum>
+    <enum name="MAV_WINCH_STATUS_FLAG" bitmask="true">
+      <description>Winch status flags used in WINCH_STATUS</description>
+      <entry value="1" name="MAV_WINCH_STATUS_HEALTHY">
+        <description>Winch is healthy</description>
+      </entry>
+      <entry value="2" name="MAV_WINCH_STATUS_FULLY_RETRACTED">
+        <description>Winch thread is fully retracted</description>
+      </entry>
+      <entry value="4" name="MAV_WINCH_STATUS_MOVING">
+        <description>Winch motor is moving</description>
+      </entry>
+      <entry value="8" name="MAV_WINCH_STATUS_CLUTCH_ENGAGED">
+        <description>Winch clutch is engaged allowing motor to move freely</description>
+      </entry>
+    </enum>
   </enums>
   <messages>
     <message id="0" name="HEARTBEAT">
@@ -7094,6 +7109,19 @@
       <field type="uint8_t" name="count">Number of wheels reported.</field>
       <field type="double[16]" name="distance" units="m">Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.</field>
     </message>
+    <message id="9005" name="WINCH_STATUS">
+      <wip/>
+      <!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
+      <description>Winch status.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (synced to UNIX time or since system boot).</field>
+      <field type="float" name="line_length" units="m">Length of line released. NaN if unknown</field>
+      <field type="float" name="speed" units="m/s">Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown</field>
+      <field type="float" name="tension" units="kg">Tension on the line. NaN if unknown</field>
+      <field type="float" name="voltage" units="V">Voltage of the battery supplying the winch. NaN if unknown</field>
+      <field type="float" name="current" units="A">Current draw from the winch. NaN if unknown</field>
+      <field type="int16_t" name="temperature" units="degC">Temperature of the motor. INT16_MAX if unknown</field>
+      <field type="uint32_t" name="status" display="bitmask" enum="MAV_WINCH_STATUS_FLAG">Status flags</field>
+    </message>
     <message id="12900" name="OPEN_DRONE_ID_BASIC_ID">
       <wip/>
       <!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->