From 1a3ef62b849724046f20184059c047c262292b4f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 22 Jul 2020 20:05:20 +0900
Subject: [PATCH] GCS_MAVLink: add virtual send_winch_status

---
 libraries/GCS_MAVLink/GCS.h          | 1 +
 libraries/GCS_MAVLink/GCS_Common.cpp | 7 +++++++
 libraries/GCS_MAVLink/ap_message.h   | 1 +
 3 files changed, 9 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index e0bcb6d106..faa94367f0 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -265,6 +265,7 @@ public:
     void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc);
     void send_rpm() const;
     void send_generator_status() const;
+    virtual void send_winch_status() const {};
 
     // lock a channel, preventing use by MAVLink
     void lock(bool _lock) {
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 8e4f157b05..a8d59e7659 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -43,6 +43,7 @@
 #include <AP_EFI/AP_EFI.h>
 #include <AP_Proximity/AP_Proximity.h>
 #include <AP_Scripting/AP_Scripting.h>
+#include <AP_Winch/AP_Winch.h>
 
 #include <stdio.h>
 
@@ -807,6 +808,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_AUTOPILOT_VERSION,     MSG_AUTOPILOT_VERSION},
         { MAVLINK_MSG_ID_EFI_STATUS,            MSG_EFI_STATUS},
         { MAVLINK_MSG_ID_GENERATOR_STATUS,      MSG_GENERATOR_STATUS},
+        { MAVLINK_MSG_ID_WINCH_STATUS,          MSG_WINCH_STATUS},
             };
 
     for (uint8_t i=0; i<ARRAY_SIZE(map); i++) {
@@ -4764,6 +4766,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         break;
     }
 
+    case MSG_WINCH_STATUS:
+        CHECK_PAYLOAD_SIZE(WINCH_STATUS);
+        send_winch_status();
+        break;
+
     default:
         // try_send_message must always at some stage return true for
         // a message, or we will attempt to infinitely retry the
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index b4af29fa96..8172d8e6f4 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -74,5 +74,6 @@ enum ap_message : uint8_t {
     MSG_AUTOPILOT_VERSION,
     MSG_EFI_STATUS,
     MSG_GENERATOR_STATUS,
+    MSG_WINCH_STATUS,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };