The winch reports what it is doing
What ArduPilot says:
- … move state unknown
- … …healthy
- Winch: … N.Nm to N.Nm
- … thread end
- … clutch …
- … clutch state unknown
Lines shown when verbose output is on (WINCH_OPTIONS bit 1). “Winch: lowering 5.0m to 12.0m”: a command to let out or pull in that much line, and the total length it will end at. “Winch: healthy / not healthy”: data from a Daiwa winch started or stopped arriving (3 s limit). “Winch: thread end”: the winch says the line is fully pulled in. “clutch …” is the state of the clutch that lets the spool turn freely.
Parameters to look at
| Parameter | What it is |
|---|---|
WINCH_TYPE | Winch Type |
WINCH_OPTIONS | Winch options |
The code that sends it
… move state unknown
libraries/AP_Winch/AP_Winch_Daiwa.cpp AP_Winch_Daiwa::update_user() · Open in ArduPilot Copter-4.7.1
… …healthy
libraries/AP_Winch/AP_Winch_Daiwa.cpp AP_Winch_Daiwa::update_user() · Open in ArduPilot Copter-4.7.1
Winch: … N.Nm to N.Nm
libraries/AP_Winch/AP_Winch.cpp AP_Winch::release_length() · Open in ArduPilot Copter-4.7.1
… thread end
libraries/AP_Winch/AP_Winch_Daiwa.cpp AP_Winch_Daiwa::update_user() · Open in ArduPilot Copter-4.7.1
And 2 more messages, sent from the same places.