From 5d84b373114879f4332eca63e224a76beea55018 Mon Sep 17 00:00:00 2001
From: ES-Alexander <sandman.esalexander@gmail.com>
Date: Wed, 17 Sep 2025 13:14:15 +0800
Subject: [PATCH] common.xml: add gripper stop action and sync upstream enum
 names

Cherry-picked from mavlink/mavlink commit c748e54d9ba16633a69bda58d5a25b715bbdd0a5

This updates GRIPPER_ACTIONS enum with:
- Renamed GRIPPER_ACTION_RELEASE to GRIPPER_ACTION_OPEN
- Renamed GRIPPER_ACTION_GRAB to GRIPPER_ACTION_CLOSE
- Added GRIPPER_ACTION_STOP

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Signed-off-by: neo-0007 <hrishikeshgohain123@gmail.com>
---
 message_definitions/v1.0/common.xml | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index 6d840b0e2be..a7bf897d00c 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -582,11 +582,14 @@
     <!-- gripper action enum -->
     <enum name="GRIPPER_ACTIONS">
       <description>Gripper actions.</description>
-      <entry value="0" name="GRIPPER_ACTION_RELEASE">
-        <description>Gripper release cargo.</description>
+      <entry value="0" name="GRIPPER_ACTION_OPEN">
+        <description>Gripper commence open. Often used to release cargo.</description>
       </entry>
-      <entry value="1" name="GRIPPER_ACTION_GRAB">
-        <description>Gripper grab onto cargo.</description>
+      <entry value="1" name="GRIPPER_ACTION_CLOSE">
+        <description>Gripper commence close. Often used to grab onto cargo.</description>
+      </entry>
+      <entry value="2" name="GRIPPER_ACTION_STOP">
+        <description>Gripper stop (maintain current grip position).</description>
       </entry>
     </enum>
     <!-- winch action enum -->
@@ -1370,7 +1373,7 @@
       </entry>
       <entry value="211" name="MAV_CMD_DO_GRIPPER" hasLocation="false" isDestination="false">
         <description>Mission command to operate a gripper.</description>
-        <param index="1" label="Instance" minValue="1" increment="1">Gripper instance number.</param>
+        <param index="1" label="Gripper ID" minValue="0" increment="1">Gripper ID. 1-6 for an autopilot connected gripper. In missions this may be set to 1-6 for an autopilot gripper, or the gripper component id for a MAVLink gripper. 0 targets all grippers.</param>
         <param index="2" label="Action" enum="GRIPPER_ACTIONS">Gripper action to perform.</param>
         <param index="3">Empty</param>
         <param index="4">Empty</param>