The gripper was told to close or open
What ArduPilot says:
- Gripper load grabbing
- Gripper load released
- Gripper load releasing
- Gripper load grabbed
“grabbing” and “releasing” mean the command went out: the gripper's output (SERVOn_FUNCTION 28) was driven to GRIP_GRAB or GRIP_RELEASE. For a servo gripper “grabbed” or “released” follows 0.5 s later. That second line is a timer, not a sensor: ArduPilot cannot see whether the load is really held or gone. The same line straight away, without the “-ing” one, means the gripper was already in that state.
Parameters to look at
| Parameter | What it is |
|---|---|
GRIP_ENABLE | Gripper Enable/Disable |
GRIP_TYPE | Gripper Type |
GRIP_GRAB | Gripper Grab PWM |
GRIP_RELEASE | Gripper Release PWM |
GRIP_AUTOCLOSE | Gripper Autoclose time |
The code that sends it
Gripper load grabbing
libraries/AP_Gripper/AP_Gripper_EPM.cpp AP_Gripper_EPM::grab() · Open in ArduPilot Copter-4.7.1
libraries/AP_Gripper/AP_Gripper_Servo.cpp AP_Gripper_Servo::grab() · Open in ArduPilot Copter-4.7.1
Gripper load released
libraries/AP_Gripper/AP_Gripper_Servo.cpp AP_Gripper_Servo::release() · Open in ArduPilot Copter-4.7.1
libraries/AP_Gripper/AP_Gripper_Servo.cpp AP_Gripper_Servo::update_gripper() · Open in ArduPilot Copter-4.7.1
Gripper load releasing
libraries/AP_Gripper/AP_Gripper_EPM.cpp AP_Gripper_EPM::release() · Open in ArduPilot Copter-4.7.1
libraries/AP_Gripper/AP_Gripper_Servo.cpp AP_Gripper_Servo::release() · Open in ArduPilot Copter-4.7.1
Gripper load grabbed
libraries/AP_Gripper/AP_Gripper_Servo.cpp AP_Gripper_Servo::grab() · Open in ArduPilot Copter-4.7.1
libraries/AP_Gripper/AP_Gripper_Servo.cpp AP_Gripper_Servo::update_gripper() · Open in ArduPilot Copter-4.7.1