package mavsdk.rpc.winch
Get desktop application:
View/edit binary Protocol Buffers messages
service WinchService
winch.proto:14Allows users to send winch actions, as well as receive status information from winch systems.
rpc AbandonLine (, )
winch.proto:63Spool out the entire length of the line.
message
winch.proto:196uint32 instance = 1
message
winch.proto:200optional winch_result = 1
rpc Deliver (, )
winch.proto:41Sequence of drop, slow down, touch down, reel up, lock.
message
winch.proto:164uint32 instance = 1
message
winch.proto:168optional winch_result = 1
rpc Hold (, )
winch.proto:46Engage motor and hold current position.
message
winch.proto:172uint32 instance = 1
message
winch.proto:176optional winch_result = 1
rpc LoadLine (, )
winch.proto:58Load the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold.
message
winch.proto:188uint32 instance = 1
message
winch.proto:192optional winch_result = 1
rpc LoadPayload (, )
winch.proto:68Spools out just enough to present the hook to the user to load the payload.
message
winch.proto:204uint32 instance = 1
message
winch.proto:208optional winch_result = 1
rpc Lock (, )
winch.proto:36Perform the locking sequence to relieve motor while in the fully retracted position.
message
winch.proto:156uint32 instance = 1
message
winch.proto:160optional winch_result = 1
rpc RateControl (, )
winch.proto:31Wind or unwind line at specified rate.
message
winch.proto:147uint32 instance = 1
float rate_m_s = 2
Rate at which to wind or unwind the line
message
winch.proto:152optional winch_result = 1
rpc RelativeLengthControl (, )
winch.proto:26Wind or unwind specified length of line, optionally using specified rate.
message
winch.proto:137uint32 instance = 1
Instance ID of the winch addressed by this request
float length_m = 2
Length of line to unwind or wind
float rate_m_s = 3
Rate at which to wind or unwind the line
message
winch.proto:143optional winch_result = 1
rpc Relax (, )
winch.proto:21Allow motor to freewheel.
message
winch.proto:129uint32 instance = 1
message
winch.proto:133optional winch_result = 1
rpc Retract (, )
winch.proto:51Return the reel to the fully retracted position.
message
winch.proto:180uint32 instance = 1
message
winch.proto:184optional winch_result = 1
rpc SubscribeStatus (, stream )
winch.proto:16Subscribe to 'winch status' updates.
message
winch.proto:72(message has no fields)
message
winch.proto:73optional status = 1
The next 'winch status' state
message
winch.proto:104Status type.
Used in:
uint64 time_usec = 1
Time in usec
float line_length_m = 2
Length of the line in meters
float speed_m_s = 3
Speed in meters per second
float tension_kg = 4
Tension in kilograms
float voltage_v = 5
Voltage in volts
float current_a = 6
Current in amperes
int32 temperature_c = 7
Temperature in Celsius
optional status_flags = 8
Status flags
message
winch.proto:86Winch Status Flags. The status flags are defined in mavlink https://mavlink.io/en/messages/common.html#MAV_WINCH_STATUS_FLAG. Multiple status fields can be set simultaneously. Mavlink does not specify which states are mutually exclusive.
Used in:
bool healthy = 1
Winch is healthy
bool fully_retracted = 2
Winch line is fully retracted
bool moving = 3
Winch motor is moving
bool clutch_engaged = 4
Winch clutch is engaged allowing motor to move freely
bool locked = 5
Winch is locked by locking mechanism
bool dropping = 6
Winch is gravity dropping payload
bool arresting = 7
Winch is arresting payload descent
bool ground_sense = 8
Winch is using torque measurements to sense the ground
bool retracting = 9
Winch is returning to the fully retracted position
bool redeliver = 10
Winch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
bool abandon_line = 11
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.
bool locking = 12
Winch is engaging the locking mechanism
bool load_line = 13
Winch is spooling on line
bool load_payload = 14
Winch is loading a payload
Winch Action type.
WINCH_ACTION_RELAXED = 0
Allow motor to freewheel
WINCH_ACTION_RELATIVE_LENGTH_CONTROL = 1
Wind or unwind specified length of line, optionally using specified rate
WINCH_ACTION_RATE_CONTROL = 2
Wind or unwind line at specified rate
WINCH_ACTION_LOCK = 3
Perform the locking sequence to relieve motor while in the fully retracted position
WINCH_ACTION_DELIVER = 4
Sequence of drop, slow down, touch down, reel up, lock
WINCH_ACTION_HOLD = 5
Engage motor and hold current position
WINCH_ACTION_RETRACT = 6
Return the reel to the fully retracted position
WINCH_ACTION_LOAD_LINE = 7
Load the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold
WINCH_ACTION_ABANDON_LINE = 8
Spool out the entire length of the line
WINCH_ACTION_LOAD_PAYLOAD = 9
Spools out just enough to present the hook to the user to load the payload
message
winch.proto:213Result type.
Used in: , , , , , , , , ,
WinchResult.Result result = 1
Result enum value
string result_str = 2
Human-readable English string describing the result
Possible results returned for winch action requests.
Used in:
RESULT_UNKNOWN = 0
Unknown result
RESULT_SUCCESS = 1
Request was successful
RESULT_NO_SYSTEM = 2
No system is connected
RESULT_BUSY = 3
Temporarily rejected
RESULT_TIMEOUT = 4
Request timed out
RESULT_UNSUPPORTED = 5
Action not supported
RESULT_FAILED = 6
Action failed