autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/ae6fc8ba2397108c3a5b5ea44a54639fe92cb9d7

common/testsuite.h

@@ -12486,6 +12486,67 @@ static void mavlink_test_wheel_distance(uint8_t system_id, uint8_t component_id,
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_winch_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
+        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_WINCH_STATUS >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_winch_status_t packet_in = {
+        93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,963498920,18899
+    };
+    mavlink_winch_status_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.time_usec = packet_in.time_usec;
+        packet1.line_length = packet_in.line_length;
+        packet1.speed = packet_in.speed;
+        packet1.tension = packet_in.tension;
+        packet1.voltage = packet_in.voltage;
+        packet1.current = packet_in.current;
+        packet1.status = packet_in.status;
+        packet1.temperature = packet_in.temperature;
+        
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_WINCH_STATUS_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_winch_status_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_winch_status_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_winch_status_pack(system_id, component_id, &msg , packet1.time_usec , packet1.line_length , packet1.speed , packet1.tension , packet1.voltage , packet1.current , packet1.temperature , packet1.status );
+    mavlink_msg_winch_status_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_winch_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.line_length , packet1.speed , packet1.tension , packet1.voltage , packet1.current , packet1.temperature , packet1.status );
+    mavlink_msg_winch_status_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+    mavlink_msg_winch_status_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_winch_status_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.line_length , packet1.speed , packet1.tension , packet1.voltage , packet1.current , packet1.temperature , packet1.status );
+    mavlink_msg_winch_status_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_open_drone_id_basic_id(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -13126,6 +13187,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
     mavlink_test_play_tune_v2(system_id, component_id, last_msg);
     mavlink_test_supported_tunes(system_id, component_id, last_msg);
     mavlink_test_wheel_distance(system_id, component_id, last_msg);
+    mavlink_test_winch_status(system_id, component_id, last_msg);
     mavlink_test_open_drone_id_basic_id(system_id, component_id, last_msg);
     mavlink_test_open_drone_id_location(system_id, component_id, last_msg);
     mavlink_test_open_drone_id_authentication(system_id, component_id, last_msg);

message_definitions/common.xml

@@ -4729,6 +4729,21 @@
         <description>Unit is sometimes working, sometimes not.</description>
       </entry>
     </enum>
+    <enum name="MAV_WINCH_STATUS_FLAG" bitmask="true">
+      <description>Winch status flags used in WINCH_STATUS</description>
+      <entry value="1" name="MAV_WINCH_STATUS_HEALTHY">
+        <description>Winch is healthy</description>
+      </entry>
+      <entry value="2" name="MAV_WINCH_STATUS_FULLY_RETRACTED">
+        <description>Winch thread is fully retracted</description>
+      </entry>
+      <entry value="4" name="MAV_WINCH_STATUS_MOVING">
+        <description>Winch motor is moving</description>
+      </entry>
+      <entry value="8" name="MAV_WINCH_STATUS_CLUTCH_ENGAGED">
+        <description>Winch clutch is engaged allowing motor to move freely</description>
+      </entry>
+    </enum>
   </enums>
   <messages>
     <message id="0" name="HEARTBEAT">
@@ -7094,6 +7109,19 @@
       <field type="uint8_t" name="count">Number of wheels reported.</field>
       <field type="double[16]" name="distance" units="m">Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.</field>
     </message>
+    <message id="9005" name="WINCH_STATUS">
+      <wip/>
+      <!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
+      <description>Winch status.</description>
+      <field type="uint64_t" name="time_usec" units="us">Timestamp (synced to UNIX time or since system boot).</field>
+      <field type="float" name="line_length" units="m">Length of line released. NaN if unknown</field>
+      <field type="float" name="speed" units="m/s">Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown</field>
+      <field type="float" name="tension" units="kg">Tension on the line. NaN if unknown</field>
+      <field type="float" name="voltage" units="V">Voltage of the battery supplying the winch. NaN if unknown</field>
+      <field type="float" name="current" units="A">Current draw from the winch. NaN if unknown</field>
+      <field type="int16_t" name="temperature" units="degC">Temperature of the motor. INT16_MAX if unknown</field>
+      <field type="uint32_t" name="status" display="bitmask" enum="MAV_WINCH_STATUS_FLAG">Status flags</field>
+    </message>
     <message id="12900" name="OPEN_DRONE_ID_BASIC_ID">
       <wip/>
       <!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->