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mavsdk::Winch::StatusFlags Struct Reference ​

#include: winch.h

Winch 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.

Data Fields ​

bool healthy {} - Winch is healthy.

bool fully_retracted {} - Winch line is fully retracted.

bool moving {} - Winch motor is moving.

bool clutch_engaged {} - Winch clutch is engaged allowing motor to move freely.

bool locked {} - Winch is locked by locking mechanism.

bool dropping {} - Winch is gravity dropping payload.

bool arresting {} - Winch is arresting payload descent.

bool ground_sense {} - Winch is using torque measurements to sense the ground.

bool retracting {} - Winch is returning to the fully retracted position.

bool redeliver {} - Winch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.

bool abandon_line {} - 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 {} - Winch is engaging the locking mechanism.

bool load_line {} - Winch is spooling on line.

bool load_payload {} - Winch is loading a payload.

Field Documentation ​

healthy ​

cpp
bool mavsdk::Winch::StatusFlags::healthy {}

Winch is healthy.

fully_retracted ​

cpp
bool mavsdk::Winch::StatusFlags::fully_retracted {}

Winch line is fully retracted.

moving ​

cpp
bool mavsdk::Winch::StatusFlags::moving {}

Winch motor is moving.

clutch_engaged ​

cpp
bool mavsdk::Winch::StatusFlags::clutch_engaged {}

Winch clutch is engaged allowing motor to move freely.

locked ​

cpp
bool mavsdk::Winch::StatusFlags::locked {}

Winch is locked by locking mechanism.

dropping ​

cpp
bool mavsdk::Winch::StatusFlags::dropping {}

Winch is gravity dropping payload.

arresting ​

cpp
bool mavsdk::Winch::StatusFlags::arresting {}

Winch is arresting payload descent.

ground_sense ​

cpp
bool mavsdk::Winch::StatusFlags::ground_sense {}

Winch is using torque measurements to sense the ground.

retracting ​

cpp
bool mavsdk::Winch::StatusFlags::retracting {}

Winch is returning to the fully retracted position.

redeliver ​

cpp
bool mavsdk::Winch::StatusFlags::redeliver {}

Winch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.

abandon_line ​

cpp
bool mavsdk::Winch::StatusFlags::abandon_line {}

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.

locking ​

cpp
bool mavsdk::Winch::StatusFlags::locking {}

Winch is engaging the locking mechanism.

load_line ​

cpp
bool mavsdk::Winch::StatusFlags::load_line {}

Winch is spooling on line.

load_payload ​

cpp
bool mavsdk::Winch::StatusFlags::load_payload {}

Winch is loading a payload.