The winch was told to move, and the line is not moving
What ArduPilot says:
- … unstuck
- … stuck
- … retrying
A Daiwa winch with “retry if stuck” (WINCH_OPTIONS bit 2) was asked to move the line and reports no movement for over a second: “Winch: stuck”. ArduPilot stops the motor for a second, then tries again (“retrying”), and says “unstuck” once the line moves. These lines appear only with verbose output (WINCH_OPTIONS bit 1).
What to do, most likely first
The line is tangled, jammed on the spool, or the load is caught on something.
FixStop commanding the winch, hold position, and land if it does not free itself; do not fly away with a caught load.
The load is heavier than the winch can lift.
FixLower the load to the ground and reduce it to the winch's rated weight.
Parameters to look at
| Parameter | What it is |
|---|---|
WINCH_TYPE | Winch Type |
WINCH_OPTIONS | Winch options |
The code that sends it
… unstuck
libraries/AP_Winch/AP_Winch_Daiwa.cpp AP_Winch_Daiwa::get_stuck_protected_rate() · Open in ArduPilot Copter-4.7.1
… stuck
libraries/AP_Winch/AP_Winch_Daiwa.cpp AP_Winch_Daiwa::get_stuck_protected_rate() · Open in ArduPilot Copter-4.7.1
… retrying
libraries/AP_Winch/AP_Winch_Daiwa.cpp AP_Winch_Daiwa::get_stuck_protected_rate() · Open in ArduPilot Copter-4.7.1