The winch is enabled, but not working

Stops itRangefinder, optical flow, camera, OSD and other devicesCopter only

What ArduPilot says:

winch unhealthy

WINCH_TYPE is not 0, and the winch driver says it cannot do its job. A PWM winch (type 1) is unhealthy when no output has SERVOn_FUNCTION 88 (Winch). A Daiwa winch (type 2) is unhealthy when nothing has come from it over its serial port for 3 s.

What to do, most likely first

No winch is fitted: the parameter is left over.
FixSet WINCH_TYPE to 0 and reboot.
A PWM winch has no output assigned.
FixSet SERVOn_FUNCTION to 88 on the output the winch is wired to.
A Daiwa winch is not answering on its serial port.
CheckThe port the winch is on needs SERIALn_PROTOCOL 31 (Winch).
FixPower the winch from the battery (props off), set the port to 31 with the winch's baud rate, check TX to RX and RX to TX, and reboot.

Parameters to look at

Parameter	What it is
`WINCH_TYPE`	Winch Type
`WINCH_OPTIONS`	Winch options
`SERIAL1_PROTOCOL`	Telem1 protocol selection
`SERIAL2_PROTOCOL`	Telemetry 2 protocol selection
`SERIAL3_PROTOCOL`	Serial 3 (GPS) protocol selection
`SERIAL4_PROTOCOL`	Serial4 protocol selection

Where to do it:Board & Wiring Planner

The code that sends it

winch unhealthy

libraries/AP_Winch/AP_Winch.cpp AP_Winch::pre_arm_check() · Open in ArduPilot Copter-4.7.1