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common.xml: add GRIPPER_ACTION_STOP message #433

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common.xml: add GRIPPER_ACTION_STOP message #433

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13 changes: 8 additions & 5 deletions message_definitions/v1.0/common.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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 -->
Expand Down Expand Up @@ -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>
Expand Down