Gripper addressing #616
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Gripper addressing #616
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hamishwillee
commented
Jun 26, 2025
| MAVLink grippers must not be have component IDs in the range 1 to 6, and a MAVLink gripper may only have one associated "physical gripper" (unlike the autopilot). | ||
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| A ground station or autopilot can discover MAVLink grippers by checking [HEARTBEAT.type](../messages/common.html#HEARTBEAT) of new components for the value [MAV_TYPE_GRIPPER](../messages/common.html#MAV_TYPE_GRIPPER). | ||
| Ground stations can determine if an autopilot has connected grippers (but not how many), by checking for the [MAV_PROTOCOL_CAPABILITY_GRIPPER](../messages/common.html#MAV_PROTOCOL_CAPABILITY_GRIPPER) bit. |
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@julianoes @rmackay9 FYI this is one problem point with grippers. The protocol bit lets you know that the autopilot has grippers, but not how many.
This isn't a problem for cameras and gimbals, because they emit camera information on request.
Worse case you could send the MAV_CMD_DO_GRIPPER with param1 as 6 to 1, and the first command that worked would tell you how many their were attached.
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Right, I didn't think of that one. 🤷
julianoes
approved these changes
Jul 18, 2025
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Docs update for the payload protocol to match the addressing changes in mavlink/mavlink#2287
Essentially defining how you discover a gripper and address it.