diff --git a/libraries/AP_Gripper/AP_Gripper.cpp b/libraries/AP_Gripper/AP_Gripper.cpp
new file mode 100644
index 0000000000..52f6e8074a
--- /dev/null
+++ b/libraries/AP_Gripper/AP_Gripper.cpp
@@ -0,0 +1,81 @@
+#include "AP_Gripper.h"
+
+#include "AP_Gripper_Servo.h"
+
+extern const AP_HAL::HAL& hal;
+
+#define GRIPPER_GRAB_PWM_DEFAULT 1900
+#define GRIPPER_RELEASE_PWM_DEFAULT 1100
+
+const AP_Param::GroupInfo AP_Gripper::var_info[] = {
+ // @Param: ENABLE
+ // @DisplayName: Gripper Enable/Disable
+ // @Description: Gripper enable/disable
+ // @User: Standard
+ // @Values: 0:Disabled, 1:Enabled
+ AP_GROUPINFO_FLAGS("ENABLE", 0, AP_Gripper, _enabled, 0, AP_PARAM_FLAG_ENABLE),
+
+ // @Param: TYPE
+ // @DisplayName: Gripper Type
+ // @Description: Gripper enable/disable
+ // @User: Standard
+ // @Values: 0:None,1:Servo,2:EPM
+ AP_GROUPINFO("TYPE", 1, AP_Gripper, config.type, 0),
+
+ // @Param: GRAB
+ // @DisplayName: Gripper Grab PWM
+ // @Description: PWM value sent to Gripper to initiate grabbing the cargo
+ // @User: Advanced
+ // @Range: 1000 2000
+ AP_GROUPINFO("GRAB", 2, AP_Gripper, config.grab_pwm, GRIPPER_GRAB_PWM_DEFAULT),
+
+ // @Param: RELEASE
+ // @DisplayName: Gripper Release PWM
+ // @Description: PWM value sent to Gripper to release the cargo
+ // @User: Advanced
+ // @Range: 1000 2000
+ AP_GROUPINFO("RELEASE", 3, AP_Gripper, config.release_pwm, GRIPPER_RELEASE_PWM_DEFAULT),
+
+ AP_GROUPEND
+};
+
+AP_Gripper::AP_Gripper()
+{
+ AP_Param::setup_object_defaults(this, var_info);
+}
+
+void AP_Gripper::init()
+{
+ // return immediately if not enabled
+ if (!_enabled.get()) {
+ return;
+ }
+
+ switch(config.type.get()) {
+ case 0:
+ break;
+ case 1:
+ backend = new AP_Gripper_Servo(config);
+ break;
+ default:
+ break;
+ }
+ if (backend != nullptr) {
+ backend->init();
+ }
+}
+
+// update - should be called at at least 10hz
+#define PASS_TO_BACKEND(function_name) \
+ void AP_Gripper::function_name() \
+ { \
+ if (backend != nullptr) { \
+ backend->function_name(); \
+ } \
+ }
+
+PASS_TO_BACKEND(grab)
+PASS_TO_BACKEND(release)
+PASS_TO_BACKEND(update)
+
+#undef PASS_TO_BACKEND
diff --git a/libraries/AP_Gripper/AP_Gripper.h b/libraries/AP_Gripper/AP_Gripper.h
new file mode 100644
index 0000000000..af95b6ef96
--- /dev/null
+++ b/libraries/AP_Gripper/AP_Gripper.h
@@ -0,0 +1,52 @@
+/*
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#pragma once
+
+#include
+
+class AP_Gripper_Backend;
+
+class AP_Gripper {
+public:
+ AP_Gripper();
+
+ // initialise the gripper
+ void init();
+
+ // grab - move the servo to the grab position
+ void grab();
+
+ // release - move the servo output to the release position
+ void release();
+
+ // update - should be called at at least 10hz
+ void update();
+
+ static const struct AP_Param::GroupInfo var_info[];
+
+ // parameters
+ AP_Int8 _enabled; // grabber enable/disable
+
+ struct Backend_Config {
+ AP_Int8 type; // grabber type (e.g. EPM or servo)
+ AP_Int16 grab_pwm; // PWM value sent to Gripper to initiate grabbing the cargo
+ AP_Int16 release_pwm; // PWM value sent to Gripper to release the cargo
+ } config;
+
+private:
+
+ AP_Gripper_Backend *backend;
+};
diff --git a/libraries/AP_Gripper/AP_Gripper_Backend.cpp b/libraries/AP_Gripper/AP_Gripper_Backend.cpp
new file mode 100644
index 0000000000..5e82144491
--- /dev/null
+++ b/libraries/AP_Gripper/AP_Gripper_Backend.cpp
@@ -0,0 +1,14 @@
+#include "AP_Gripper_Backend.h"
+
+extern const AP_HAL::HAL& hal;
+
+void AP_Gripper_Backend::init()
+{
+ init_gripper();
+}
+
+// update - should be called at at least 10hz
+void AP_Gripper_Backend::update()
+{
+ update_gripper();
+}
diff --git a/libraries/AP_Gripper/AP_Gripper_Backend.h b/libraries/AP_Gripper/AP_Gripper_Backend.h
new file mode 100644
index 0000000000..f60c580ed6
--- /dev/null
+++ b/libraries/AP_Gripper/AP_Gripper_Backend.h
@@ -0,0 +1,46 @@
+/*
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#pragma once
+
+#include
+
+class AP_Gripper_Backend {
+public:
+ AP_Gripper_Backend(struct AP_Gripper::Backend_Config &_config) :
+ config(_config) { }
+
+ // initialise the gripper backend
+ void init();
+
+ // update - should be called at at least 10hz
+ void update();
+
+ // grab - move the servo to the grab position
+ virtual void grab() = 0;
+
+ // release - move the servo output to the release position
+ virtual void release() = 0;
+
+ // type-specific intiailisations:
+ virtual void init_gripper() = 0;
+
+ // type-specific periodic updates:
+ virtual void update_gripper() { };
+
+protected:
+
+ struct AP_Gripper::Backend_Config &config;
+};
diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.cpp b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
new file mode 100644
index 0000000000..b542f8f50c
--- /dev/null
+++ b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
@@ -0,0 +1,24 @@
+#include
+
+extern const AP_HAL::HAL& hal;
+
+void AP_Gripper_Servo::init_gripper()
+{
+ // move the servo to the release position
+ RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.release_pwm);
+}
+
+void AP_Gripper_Servo::grab()
+{
+ // move the servo to the release position
+ RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.grab_pwm);
+}
+
+void AP_Gripper_Servo::release()
+{
+ // move the servo to the release position
+ RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.release_pwm);
+}
+
+ // type-specific periodic updates:
+void AP_Gripper_Servo::update_gripper() { };
diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.h b/libraries/AP_Gripper/AP_Gripper_Servo.h
new file mode 100644
index 0000000000..606c61fc1c
--- /dev/null
+++ b/libraries/AP_Gripper/AP_Gripper_Servo.h
@@ -0,0 +1,40 @@
+/*
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#pragma once
+
+#include
+#include
+
+class AP_Gripper_Servo : public AP_Gripper_Backend {
+public:
+
+ AP_Gripper_Servo(struct AP_Gripper::Backend_Config &_config) :
+ AP_Gripper_Backend(_config) { }
+
+ // grab - move the servo to the grab position
+ void grab() override;
+
+ // release - move the servo output to the release position
+ void release() override;
+
+protected:
+
+ // type-specific intiailisations:
+ void init_gripper() override;
+
+ // type-specific periodic updates:
+ void update_gripper() override;
+};