diff --git a/README.md b/README.md
index 372622fa..727013be 100644
--- a/README.md
+++ b/README.md
@@ -89,6 +89,10 @@ Run the following helper script. It will generate the Python wrappers for each p
 ./other/tools/run_protoc.sh
 ```
 
+### Adding support for new plugins
+
+In case you updated the `./proto` submodule to include a new plugin, you will also have to manually edit the file `mavsdk/system.py` to register the plugin.
+
 ### Update `mavsdk_server` version
 
 [MAVSDK_SERVER_VERSION](./MAVSDK_SERVER_VERSION) contains exactly the tag name of the `mavsdk_server` release corresponding to the version of MAVSDK-Python. When the [proto](./proto) submodule is updated here, chances are that `mavsdk_server` should be updated, too. Just edit this file, and the corresponding binary will be downloaded by the `setup.py` script (see below).
diff --git a/examples/gripper.py b/examples/gripper.py
new file mode 100644
index 00000000..a6ecb172
--- /dev/null
+++ b/examples/gripper.py
@@ -0,0 +1,32 @@
+#!/usr/bin/env python3
+
+import asyncio
+from mavsdk import System
+
+
+async def run():
+    drone = System()
+    await drone.connect(system_address="udp://:14540")
+
+    print("Waiting for drone to connect...")
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"-- Connected to drone!")
+            break
+
+    print(f"-- Gripper Grab")
+    await drone.gripper.grab(instance=1)
+
+    await asyncio.sleep(1)
+
+    print(f"-- Gripper Release")
+    await drone.gripper.release(instance=1)
+
+    while True:
+        print("Staying connected, press Ctrl-C to exit")
+        await asyncio.sleep(1)
+
+
+if __name__ == "__main__":
+    # Run the asyncio loop
+    asyncio.run(run())
diff --git a/examples/winch.py b/examples/winch.py
new file mode 100644
index 00000000..3b15b54e
--- /dev/null
+++ b/examples/winch.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+
+import asyncio
+from mavsdk import System
+
+
+async def run():
+    drone = System()
+    await drone.connect(system_address="udp://:14540")
+
+    print("Waiting for drone to connect...")
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"-- Connected to drone!")
+            break
+
+    print(f"-- Winch action: load payload")
+    await drone.winch.load_payload(instance=1)
+
+    while True:
+        print("Staying connected, press Ctrl-C to exit")
+        await asyncio.sleep(1)
+
+
+if __name__ == "__main__":
+    # Run the asyncio loop
+    asyncio.run(run())
diff --git a/mavsdk/system.py b/mavsdk/system.py
index fb0fb101..e632bbde 100644
--- a/mavsdk/system.py
+++ b/mavsdk/system.py
@@ -18,6 +18,7 @@
 from . import ftp
 from . import geofence
 from . import gimbal
+from . import gripper
 from . import info
 from . import log_files
 from . import manual_control
@@ -36,6 +37,7 @@
 from . import tracking_server
 from . import transponder
 from . import tune
+from . import winch
 
 from . import bin
 
@@ -141,6 +143,7 @@ async def _init_plugins(self, host, port):
         self._plugins["ftp"] = ftp.Ftp(plugin_manager)
         self._plugins["geofence"] = geofence.Geofence(plugin_manager)
         self._plugins["gimbal"] = gimbal.Gimbal(plugin_manager)
+        self._plugins["gripper"] = gripper.Gripper(plugin_manager)
         self._plugins["info"] = info.Info(plugin_manager)
         self._plugins["log_files"] = log_files.LogFiles(plugin_manager)
         self._plugins["manual_control"] = manual_control.ManualControl(plugin_manager)
@@ -159,6 +162,7 @@ async def _init_plugins(self, host, port):
         self._plugins["tracking_server"] = tracking_server.TrackingServer(plugin_manager)
         self._plugins["transponder"] = transponder.Transponder(plugin_manager)
         self._plugins["tune"] = tune.Tune(plugin_manager)
+        self._plugins["winch"] = winch.Winch(plugin_manager)
 
     @staticmethod
     def error_uninitialized(plugin_name: str) -> str:
@@ -243,6 +247,12 @@ def gimbal(self) -> gimbal.Gimbal:
             raise RuntimeError(self.error_uninitialized("Gimbal"))
         return self._plugins["gimbal"]
 
+    @property
+    def gripper(self) -> gripper.Gripper:
+        if "gripper" not in self._plugins:
+            raise RuntimeError(self.error_uninitialized("Gripper"))
+        return self._plugins["gripper"]
+
     @property
     def info(self) -> info.Info:
         if "info" not in self._plugins:
@@ -351,6 +361,12 @@ def tune(self) -> tune.Tune:
             raise RuntimeError(self.error_uninitialized("Tune"))
         return self._plugins["tune"]
 
+    @property
+    def winch(self) -> winch.Winch:
+        if "tune" not in self._plugins:
+            raise RuntimeError(self.error_uninitialized("Winch"))
+        return self._plugins["winch"]
+
     @staticmethod
     def _start_mavsdk_server(system_address, port, sysid, compid):
         """