Added winch component ID. Added winch LOAD_PAYLOAD command. Added sta…

…tus flags for LOCKING, LOAD_LINE, and LOAD_PAYLOAD. (mavlink#1899)
mavlink · Nov 3, 2022 · 708fb8f · 708fb8f
1 parent 1618ffb
commit 708fb8f
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diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
@@ -614,6 +614,9 @@
       <entry value="8" name="WINCH_ABANDON_LINE">
         <description>Spool out the entire length of the line. Only action and instance command parameters are used, others are ignored.</description>
       </entry>
+      <entry value="9" name="WINCH_LOAD_PAYLOAD">
+        <description>Spools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored</description>
+      </entry>
     </enum>
     <!-- UAVCAN node health enumeration -->
     <enum name="UAVCAN_NODE_HEALTH">
@@ -4653,6 +4656,15 @@
       <entry value="1024" name="MAV_WINCH_STATUS_ABANDON_LINE">
         <description>Winch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.</description>
       </entry>
+      <entry value="2048" name="MAV_WINCH_STATUS_LOCKING">
+        <description>Winch is engaging the locking mechanism.</description>
+      </entry>
+      <entry value="4096" name="MAV_WINCH_STATUS_LOAD_LINE">
+        <description>Winch is spooling on line.</description>
+      </entry>
+      <entry value="8192" name="MAV_WINCH_STATUS_LOAD_PAYLOAD">
+        <description>Winch is loading a payload.</description>
+      </entry>
     </enum>
     <enum name="MAG_CAL_STATUS">
       <entry value="0" name="MAG_CAL_NOT_STARTED"/>

diff --git a/message_definitions/v1.0/minimal.xml b/message_definitions/v1.0/minimal.xml
@@ -605,6 +605,9 @@
       <entry value="161" name="MAV_COMP_ID_PARACHUTE">
         <description>Parachute component.</description>
       </entry>
+      <entry value="169" name="MAV_COMP_ID_WINCH">
+        <description>Winch component.</description>
+      </entry>
       <entry value="171" name="MAV_COMP_ID_GIMBAL2">
         <description>Gimbal #2.</description>
       </entry>