mavlink-rest.md

MAVLink REST API

Starting from companion 0.0.19, a MAVLink REST API (http://192.168.2.2:4777/mavlink) endpoint is available. It provides access to the last MAVLink messages sent by the vehicle in json format.

The json contains the same structure defined by the MAVLink protocol standard, where each field exists and can be accessible. Besides the MAVLink specification, each message contains an structure called message_information, that provides the time, frequency and counter of such message.

It's possible to access:

• All messages available in /mavlink
• Specific messages via subpath, E.g: /mavlink/HEARTBEAT or /mavlink/ATTITUDE.
• Single fields via nested subpath, E.g: /mavlink/HEARTBEAT/mavtype/type or or /mavlink/ATTITUDE/pitch.

You can check the following json as a minimal example of what you can find from the main path /mavlink:

{
  "ATTITUDE": {
    "message_information": {
      "counter": 680870,
      "frequency": 9.998090744018556,
      "time": {
        "first_message": "2020-02-05T23:51:19.189911121+00:00",
        "last_message": "2020-02-06T18:46:19.301620958+00:00"
      }
    },
    "pitch": -0.24140535295009613,
    "pitchspeed": -0.002207340206950903,
    "roll": -0.21160905063152313,
    "rollspeed": -0.00044677406549453735,
    "time_boot_ms": 68104588,
    "type": "ATTITUDE",
    "yaw": -1.3117148876190186,
    "yawspeed": 0.0022055506706237793
  },
  "DISTANCE_SENSOR": {
    "covariance": 0,
    "current_distance": 0,
    "id": 0,
    "mavtype": {
      "type": "MAV_DISTANCE_SENSOR_UNKNOWN"
    },
    "max_distance": 700,
    "message_information": {
      "counter": 1,
      "frequency": null,
      "time": {
        "first_message": "2020-02-05T23:51:19.245754158+00:00",
        "last_message": "2020-02-05T23:51:19.245778012+00:00"
      }
    },
    "min_distance": 20,
    "orientation": {
      "type": "MAV_SENSOR_ROTATION_PITCH_270"
    },
    "time_boot_ms": 4482,
    "type": "DISTANCE_SENSOR"
  },
  "HEARTBEAT": {
    "autopilot": {
      "type": "MAV_AUTOPILOT_ARDUPILOTMEGA"
    },
    "base_mode": {
      "bits": 81
    },
    "custom_mode": 19,
    "mavlink_version": 3,
    "mavtype": {
      "type": "MAV_TYPE_SUBMARINE"
    },
    "message_information": {
      "counter": 68101,
      "frequency": 1.0000146627426147,
      "time": {
        "first_message": "2020-02-05T23:51:18.970019298+00:00",
        "last_message": "2020-02-06T18:46:18.978841566+00:00"
      }
    },
    "system_status": {
      "type": "MAV_STATE_CRITICAL"
    },
    "type": "HEARTBEAT"
  },
  "POWER_STATUS": {
    "Vcc": 5000,
    "Vservo": 0,
    "flags": {
      "bits": 0
    },
    "message_information": {
      "counter": 680870,
      "frequency": 9.998090744018556,
      "time": {
        "first_message": "2020-02-05T23:51:19.199533151+00:00",
        "last_message": "2020-02-06T18:46:19.311397896+00:00"
      }
    },
    "type": "POWER_STATUS"
  },
  "RAW_IMU": {
    "message_information": {
      "counter": 680871,
      "frequency": 9.998106002807615,
      "time": {
        "first_message": "2020-02-05T23:51:19.099038934+00:00",
        "last_message": "2020-02-06T18:46:19.325582710+00:00"
      }
    },
    "time_usec": 3680079699,
    "type": "RAW_IMU",
    "xacc": -237,
    "xgyro": -42,
    "xmag": 150,
    "yacc": 204,
    "ygyro": -1,
    "ymag": 67,
    "zacc": -920,
    "zgyro": 37,
    "zmag": 461
  },
  "RC_CHANNELS": {
    "chan10_raw": 1100,
    "chan11_raw": 1100,
    "chan12_raw": 0,
    "chan13_raw": 0,
    "chan14_raw": 0,
    "chan15_raw": 0,
    "chan16_raw": 0,
    "chan17_raw": 0,
    "chan18_raw": 0,
    "chan1_raw": 1500,
    "chan2_raw": 1500,
    "chan3_raw": 1500,
    "chan4_raw": 1500,
    "chan5_raw": 1500,
    "chan6_raw": 1500,
    "chan7_raw": 1500,
    "chan8_raw": 1500,
    "chan9_raw": 1100,
    "chancount": 0,
    "message_information": {
      "counter": 680870,
      "frequency": 9.998090744018556,
      "time": {
        "first_message": "2020-02-05T23:51:19.220836357+00:00",
        "last_message": "2020-02-06T18:46:19.323932621+00:00"
      }
    },
    "rssi": 0,
    "time_boot_ms": 68104589,
    "type": "RC_CHANNELS"
  },
  "SCALED_PRESSURE": {
    "message_information": {
      "counter": 680870,
      "frequency": 9.998090744018556,
      "time": {
        "first_message": "2020-02-05T23:51:19.228165860+00:00",
        "last_message": "2020-02-06T18:46:19.327375453+00:00"
      }
    },
    "press_abs": 1240.5726318359375,
    "press_diff": 0.0,
    "temperature": 19203,
    "time_boot_ms": 68104592,
    "type": "SCALED_PRESSURE"
  },
  "SERVO_OUTPUT_RAW": {
    "message_information": {
      "counter": 680870,
      "frequency": 9.998090744018556,
      "time": {
        "first_message": "2020-02-05T23:51:19.216933118+00:00",
        "last_message": "2020-02-06T18:46:19.321753267+00:00"
      }
    },
    "port": 0,
    "servo1_raw": 1500,
    "servo2_raw": 1500,
    "servo3_raw": 1500,
    "servo4_raw": 1500,
    "servo5_raw": 1500,
    "servo6_raw": 1500,
    "servo7_raw": 0,
    "servo8_raw": 0,
    "time_usec": 3680079638,
    "type": "SERVO_OUTPUT_RAW"
  }
}