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Overview

The WINCH parameter group configures the Autonomous Winch subsystem. This allows the vehicle to lower and raise a payload on a cable.

Key Concepts

1. Winch Types (WINCH_TYPE)

  • 1 (Servo): Standard PWM winch servo.
  • 2 (MAVLink): Winch controlled via an external MAVLink device.
  • 3 (DroneCAN): CAN-based winch.

2. Rate Limits (WINCH_RATE_MAX)

Limits the speed (m/s) at which the cable is deployed or retracted.

Developer Notes

  • Library: libraries/AP_Winch.
  • Interaction: Tightly coupled with the PLDP (Payload Place) library for automated cargo delivery.

WINCH_RATE_MAX

m/s
Default 1.0f
Range 0 10

Winch deploy or retract rate maximum (WINCH_RATE_MAX)

Description

This parameter sets the hard limit for the winch motor's speed when deploying or retracting the tether. It protects the winch mechanism from over-speeding, particularly in "slack line" conditions where the load is minimal.

The Mathematics

$$ \omega\_{\text{cmd}} = \min(\omega\_{\text{req}}, \text{WINCH\_RATE\_MAX}) $$

The Engineer's View

Defined in libraries/AP_Winch/AP_Winch.cpp. The winch library calculates the required rate based on the target length or velocity request, then clamps it to this value before sending the output to the ESC or servo.

Tuning & Behavior

  • Default Value: 1.0 m/s
  • Safety: Ensure this value is within the safe operating limits of your physical winch hardware.
View Source

Winch Type

WINCH_TYPE: Winch Type

Description

Selects the type of winch hardware connected to the vehicle.

Values

Value Meaning
0 None (Disabled)
1 PWM (Servo/ESC controlled)
2 Daiwa (Specific serial protocol)
  • Default: 0

Description

This parameter enables the Winch library for package delivery or tether management.

  • PWM (1): Allows control of a generic continuous rotation servo or ESC-driven motor using the WINCH_ parameters.
  • Daiwa (2): Enables support for the Daiwa winch protocol.

Source Code

ardupilot/libraries/AP_Winch/AP_Winch.cpp

Wheel Encoder Configuration (WENC) Wind Estimation Configuration (WIND)