From 54b714a24e20f1208fdba233801ca7c1e8082d0a Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 24 Jul 2020 17:40:49 +0900
Subject: [PATCH] Copter: implement send_winch_status

---
 ArduCopter/GCS_Mavlink.cpp | 13 +++++++++++++
 ArduCopter/GCS_Mavlink.h   |  1 +
 2 files changed, 14 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index cd9db07202..b7bc4d17c0 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -229,6 +229,18 @@ void GCS_MAVLINK_Copter::send_pid_tuning()
     }
 }
 
+// send winch status message
+void GCS_MAVLINK_Copter::send_winch_status() const
+{
+#if WINCH_ENABLED == ENABLED
+    AP_Winch *winch = AP::winch();
+    if (winch == nullptr) {
+        return;
+    }
+    winch->send_status(*this);
+#endif
+}
+
 uint8_t GCS_MAVLINK_Copter::sysid_my_gcs() const
 {
     return copter.g.sysid_my_gcs;
@@ -445,6 +457,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_RPM,
     MSG_ESC_TELEMETRY,
     MSG_GENERATOR_STATUS,
+    MSG_WINCH_STATUS,
 };
 static const ap_message STREAM_PARAMS_msgs[] = {
     MSG_NEXT_PARAM
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index 1ac207db9e..44abe8593b 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -65,4 +65,5 @@ private:
 
     void send_pid_tuning() override;
 
+    void send_winch_status() const override;
 };