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data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb" aria-label="Breadcrumb"><li><a href="../../Developing.html">Developing</a></li><li><a href="../REST_APIs.html">REST APIs</a></li><li><a href="" aria-current="page">Autopilot API</a></li></ul></div><div class="tsd-panel tsd-typography"><h1 id="autopilot-api" class="tsd-anchor-link">Autopilot API<a href="#autopilot-api" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h1>The Autopilot API defines the <code>autopilots</code> path under <code>self</code> (e.g. <code>/signalk/v2/api/vessels/self/autopilots</code>) for representing information from one or more autopilot devices. The Autopilot API provides a mechanism for applications to issue requests to autopilot devices to perform common operations. Additionally, when multiple autopilot devices are present, each autopilot device is individually addressable. Note: Autopilot provider plugins are required to enable the API operation and provide communication with autopilot devices. See <a href="../Plugins/Autopilot_Providers.html">Autopilot Provider Plugins</a> for details. <h2 id="common-operations" class="tsd-anchor-link">Common Operations<a href="#common-operations" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h2>The following operations are supported: <ul> <li>Setting the operating mode</li> <li>Engaging / Disengaging the pilot</li> <li>Setting / adjusting the course</li> <li>Dodging port / starboard</li> <li>Tacking / Gybing</li> </ul> <h2 id="the-default-autopilot" class="tsd-anchor-link">The Default Autopilot<a href="#the-default-autopilot" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h2>To ensure a consistent API calling profile and to simplify client operations, the Autopilot API will assign a default autopilot device which is accessible using the path <code>/signalk/v2/api/vessels/self/autopilots/_default</code>. <ul> <li> When only one autopilot is present, it will be automatically assigned as the default. </li> <li> When multiple autopilots are present, and a default is yet to be assigned, one will be assigned when: <ul> <li>An update is received from a provider plugin, the autopilot which is the source of the update will be assigned as the default.</li> <li>An API request is received, the first autopilot device registered, is assigned as the default.</li> <li>A request is sent to the <code>/_providers/_default</code> API endpoint (see <a href="#setting-the-default-provider">Setting the Default Autopilot</a>).</li> </ul> </li> </ul> <h3 id="getting-the-default-autopilot-identifier" class="tsd-anchor-link">Getting the Default Autopilot Identifier<a href="#getting-the-default-autopilot-identifier" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>To get the id of the default autopilot, submit an HTTP <code>GET</code> request to <code>/signalk/v2/api/vessels/self/autopilots/_providers/_default</code>. Example: <pre><code class="typescript">HTTP GET "/signalk/v2/api/vessels/self/autopilots/_providers/_default" </code><button type="button">Copy</button></pre> Response: <pre><code class="JSON">{ "id":"raymarine-id" } </code><button type="button">Copy</button></pre> <h3 id="setting-an-autopilot-as-the-default" class="tsd-anchor-link">Setting an Autopilot as the Default<a href="#setting-an-autopilot-as-the-default" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>To set / change the default autopilot, submit an HTTP <code>POST</code> request to <code>/signalk/v2/api/vessels/self/autopilots/_providers/_default/{id}</code> where <code>{id}</code> is the identifier of the autopilot to use as the default. Example: <pre><code class="typescript">HTTP POST "/signalk/v2/api/vessels/self/autopilots/_providers/_default/raymarine-id" </code><button type="button">Copy</button></pre> The autopilot with the supplied id will now be the target of requests made to <code>/signalk/v2/api/vessels/self/autopilots/_default/*</code>. <h2 id="listing-the-available-autopilots" class="tsd-anchor-link">Listing the available Autopilots<a href="#listing-the-available-autopilots" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h2>To retrieve a list of installed autopilot devices, submit an HTTP <code>GET</code> request to <code>/signalk/v2/api/vessels/self/autopilots</code>. The response will be an object containing all the registered autopilot devices, keyed by their identifier, detailing the <code>provider</code> it is registered by and whether it is assigned as the default. <pre><code class="typescript">HTTP GET "/signalk/v2/api/vessels/self/autopilots" </code><button type="button">Copy</button></pre> Example: List of registered autopilots showing that <code>pypilot-id</code> is assigned as the default. <pre><code class="JSON">{ "pypilot-id": { "provider":"pypilot-provider", "isDefault": true }, "raymarine-id": { "provider":"raymarine-provider", "isDefault": false } } </code><button type="button">Copy</button></pre> <h2 id="autopilot-deltas" class="tsd-anchor-link">Autopilot Deltas<a href="#autopilot-deltas" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h2>Deltas emitted by the Autopilot API will have the base path <code>steering.autopilot</code> with the <code>$source</code> containing the autopilot device identifier. Deltas are emitted for the following paths: <ul> <li><code>steering.autopilot.defaultPilot</code></li> <li><code>steering.autopilot.engaged</code></li> <li><code>steering.autopilot.state</code></li> <li><code>steering.autopilot.mode</code></li> <li><code>steering.autopilot.target</code></li> <li><code>steering.autopilot.availableActions</code></li> </ul> Example: Deltas for <code>autopilot.engaged</code> from two autopilots (<code>raymarine-id</code>). <pre><code class="JSON">{ "context":"vessels.self", "updates":[ { "$source":"pypilot-id", "timestamp":"2023-11-19T06:12:47.820Z", "values":[ {"path":"steering.autopilot.engaged","value":false} ] }, { "$source":"raymarine-id", "timestamp":"2023-11-19T06:12:47.820Z", "values":[ {"path":"steering.autopilot.engaged","value":true} ] } ] } </code><button type="button">Copy</button></pre> <h2 id="autopilot-notifications" class="tsd-anchor-link">Autopilot Notifications<a href="#autopilot-notifications" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h2>The Autopilot API will provide notifications under the path <code>notifications.steering.autopilot</code> with the <code>$source</code> containing the autopilot device identifier. A set of normalised notification paths are defined to provide a consistant way for client apps to receive and process alarm messages. <ul> <li><code>waypointAdvance</code></li> <li><code>waypointArrival</code></li> <li><code>routeComplete</code></li> <li><code>xte</code></li> <li><code>heading</code></li> <li><code>wind</code></li> </ul> Example: <pre><code class="JSON">{ "context":"vessels.self", "updates":[ { "$source":"pypilot-id", "timestamp":"2023-11-19T06:12:47.820Z", "values":[ { "path": "notifications.steering.autopilot.waypointAdvance", "value": { "state": "alert", "method": ["sound"], "message": "Waypoint Advance" } } ] } ] } </code><button type="button">Copy</button></pre> <h2 id="autopilot-offline--unreachable" class="tsd-anchor-link">Autopilot offline / unreachable<a href="#autopilot-offline--unreachable" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h2>If an autopilot device is not connected or unreachable, the provider for that autopilot device will set the <code>state</code> of the device to <code>off-line</code>. <h2 id="autopilot-actions" class="tsd-anchor-link">Autopilot Actions<a href="#autopilot-actions" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h2>The Autopilot API allows providers to list all the "actions" that are supported by the device (e.g. tack, gybe, etc) and their availability in the current state of operation. A set of normalised actions are defined to simplify client processing and UI trimming: <ul> <li><code>dodge</code></li> <li><code>tack</code></li> <li><code>gybe</code></li> <li><code>courseCurrentPoint</code></li> <li><code>courseNextPoint</code></li> </ul> <pre><code class="JSON">{ "options": { "states": [...], "modes": [...], "actions": [ {"id": "tack", "name": "Tack", "available": true}, {"id": "gybe", "name": "Gybe", "available": false} ] }, "state": "disabled", "mode": "wind", "target": 0.43, "engaged": true } </code><button type="button">Copy</button></pre> <h2 id="autopilot-operations" class="tsd-anchor-link">Autopilot Operations<a href="#autopilot-operations" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h2>All API operations are invoked by issuing requests to: <ol> <li><code>/signalk/v2/api/vessels/self/autopilots/_default/*</code></li> </ol> Targets the default autopilot device. OR <ol start="2"> <li><code>/signalk/v2/api/vessels/self/autopilots/{id}/*</code></li> </ol> Target the autopilot with the supplied <code>{id}</code> Example: <pre><code class="typescript">HTTP GET "/signalk/v2/api/vessels/self/autopilots/_default/state" HTTP GET "/signalk/v2/api/vessels/self/autopilots/pypilot-id/mode" </code><button type="button">Copy</button></pre> <h3 id="retrieving-autopilot-status" class="tsd-anchor-link">Retrieving Autopilot Status<a href="#retrieving-autopilot-status" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>To retrieve the current autopilot configuration as well as a list of available options for <code>state</code> and <code>mode</code> selections, submit an HTTP <code>GET</code> request to <code>/signalk/v2/api/vessels/self/autopilots/{id}</code>. <pre><code class="typescript">HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}" </code><button type="button">Copy</button></pre> Response: <pre><code class="JSON">{ "options":{ "state":["enabled","disabled"], "mode":["gps","compass","wind"] }, "state":"disabled", "mode":"gps", "target": 0, "engaged": false } </code><button type="button">Copy</button></pre> Where: <ul> <li><code>options</code> contains arrays of valid <code>state</code> and <code>mode</code> selection options</li> <li><code>state</code> represents the current state of the device</li> <li><code>mode</code> represents the current mode of the device</li> <li><code>target</code> represents the current target value with respect to the selected <code>mode</code></li> <li><code>engaged</code> will be true when the autopilot is actively steering the vessel.</li> </ul> <h3 id="setting-the-autopilot-state" class="tsd-anchor-link">Setting the Autopilot State<a href="#setting-the-autopilot-state" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>Autopilot state can be set by submitting an HTTP <code>PUT</code> request to the <code>/signalk/v2/api/vessels/self/autopilots/{id}/state</code> endpoint containing a value from the list of available states. <pre><code class="typescript">HTTP PUT "/signalk/v2/api/vessels/self/autopilots/{id}/state" {"value": "disabled"} </code><button type="button">Copy</button></pre> <h3 id="getting-the-autopilot-state" class="tsd-anchor-link">Getting the Autopilot State<a href="#getting-the-autopilot-state" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>The current autopilot state can be retrieved by submitting an HTTP <code>GET</code> request to the <code>/signalk/v2/api/vessels/self/autopilots/{id}/state</code> endpoint. <pre><code class="typescript">HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}/state" </code><button type="button">Copy</button></pre> Response: <pre><code class="JSON">{ "value":"enabled", } </code><button type="button">Copy</button></pre> <h3 id="setting-the-autopilot-mode" class="tsd-anchor-link">Setting the Autopilot Mode<a href="#setting-the-autopilot-mode" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>Autopilot mode can be set by submitting an HTTP <code>PUT</code> request to the <code>/signalk/v2/api/vessels/self/autopilots/{id}/mode</code> endpoint containing a value from the list of available modes. <pre><code class="typescript">HTTP PUT "/signalk/v2/api/vessels/self/autopilots/{id}/mode" {"value": "gps"} </code><button type="button">Copy</button></pre> <h3 id="getting-the-autopilot-mode" class="tsd-anchor-link">Getting the Autopilot Mode<a href="#getting-the-autopilot-mode" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>The current autopilot mode can be retrieved by submitting an HTTP <code>GET</code> request to the <code>mode</code> endpoint. <pre><code class="typescript">HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}/mode" </code><button type="button">Copy</button></pre> Response: <pre><code class="JSON">{ "value":"gps", } </code><button type="button">Copy</button></pre> <h3 id="setting-the-target-value" class="tsd-anchor-link">Setting the Target value<a href="#setting-the-target-value" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>Autopilot target value can be set by submitting an HTTP <code>PUT</code> request to the <code>/signalk/v2/api/vessels/self/autopilots/{id}/target</code> endpoint containing the desired value. Note: The value supplied should be a number within the valid range for the selected <code>mode</code>. <pre><code class="typescript">// Set target to 129 degrees HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target" {"value": 129, "units": "deg"} // Set target to 0.349066 radians (20 degrees) HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target" {"value": 0.349066} </code><button type="button">Copy</button></pre> The target value can be adjusted a +/- value by submitting an HTTP <code>PUT</code> request to the <code>/signalk/v2/api/vessels/self/autopilots/{id}/target/adjust</code> endpoint with the value to add to the current <code>target</code> value. <pre><code class="typescript">// Adjust target 2 degrees port HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target/adjust" {"value": -2, , "units": "deg"} // Adjust target 0.0349066 radians (2 degrees) starboard HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target/adjust" {"value": 0.0349066} </code><button type="button">Copy</button></pre> <h3 id="getting-the-current-target-value" class="tsd-anchor-link">Getting the current Target value<a href="#getting-the-current-target-value" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>The current autopilot target value (in radians) can be retrieved by submitting an HTTP <code>GET</code> request to the <code>target</code> endpoint. <pre><code class="typescript">HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}/target" </code><button type="button">Copy</button></pre> Response: <pre><code class="JSON">{ "value": 2.2345, } </code><button type="button">Copy</button></pre> <h3 id="engaging--disengaging-the-autopilot" class="tsd-anchor-link">Engaging / Disengaging the Autopilot<a href="#engaging--disengaging-the-autopilot" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3><h4 id="engaging-the-autopilot" class="tsd-anchor-link">Engaging the autopilot<a href="#engaging-the-autopilot" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h4>An autopilot can be engaged by <a href="#setting-the-state">setting it to a speciifc <code>state</code></a> but it can also be engaged more generically by submitting an HTTP <code>POST</code> request to the <code>/signalk/v2/api/vessels/self/autopilots/{id}/engage</code> endpoint. <pre><code class="typescript">HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/engage" </code><button type="button">Copy</button></pre> Note: The resultant <code>state</code> into which the autopilot is placed will be determined by the provider plugin and the autopilot device it is communicating with. <h4 id="disengaging-the-autopilot" class="tsd-anchor-link">Disengaging the autopilot<a href="#disengaging-the-autopilot" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h4>An autopilot can be disengaged by <a href="#setting-the-state">setting it to a speciifc <code>state</code></a> but it can also be disengaged more generically by submitting an HTTP <code>POST</code> request to the <code>/signalk/v2/api/vessels/self/autopilots/{id}/disengage</code> endpoint. <pre><code class="typescript">HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/disengage" </code><button type="button">Copy</button></pre> Note: The resultant <code>state</code> into which the autopilot is placed will be determined by the provider plugin and the autopilot device it is communicating with. <h3 id="perform-a-tack" class="tsd-anchor-link">Perform a Tack<a href="#perform-a-tack" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>To send a command to the autopilot to perform a tack in the required direction, submit an HTTP <code>POST</code> request to <code>./autopilots/{id}/tack/{direction}</code> where direction is either <code>port</code> or <code>starboard</code>. Example: Tack to Port <pre><code class="typescript">HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/tack/port" </code><button type="button">Copy</button></pre> Example: Tack to Starboard <pre><code class="typescript">HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/tack/starboard" </code><button type="button">Copy</button></pre> <h3 id="perform-a-gybe" class="tsd-anchor-link">Perform a Gybe<a href="#perform-a-gybe" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>To send a command to the autopilot to perform a gybe in the required direction, submit an HTTP <code>POST</code> request to <code>/signalk/v2/api/vessels/self/autopilots/{id}/gybe/{direction}</code> where direction is either <code>port</code> or <code>starboard</code>. Example: Gybe to Port <pre><code class="typescript">HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/gybe/port" </code><button type="button">Copy</button></pre> Example: Gybe to Starboard <pre><code class="typescript">HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/gybe/starboard" </code><button type="button">Copy</button></pre> <h3 id="steer-to-current-destination" class="tsd-anchor-link">Steer to current destination<a href="#steer-to-current-destination" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>When a course has been set to a GPS position or waypoint (<code>APB</code>, <code>RMB</code>, etc data is available) submitting an HTTP <code>POST</code> request to <code>./autopilots/{id}/courseCurrentPoint</code> will send commands to the autopilot to: <ol> <li>Set the autopilot to the appropriate mode</li> <li>Activate / engage the autopilot.</li> </ol> Example: <pre><code class="typescript">HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/courseNextPoint" </code><button type="button">Copy</button></pre> <h3 id="advancing-waypoint" class="tsd-anchor-link">Advancing Waypoint<a href="#advancing-waypoint" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>To send a command to the autopilot to advance to the next waypoint on a route, submit an HTTP <code>POST</code> request to <code>./autopilots/{id}/courseNextPoint</code>. Example: <pre><code class="typescript">HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/courseNextPoint" </code><button type="button">Copy</button></pre> <h3 id="dodging-obstacles" class="tsd-anchor-link">Dodging Obstacles<a href="#dodging-obstacles" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../../assets/icons.svg#icon-anchor"></use></svg></a></h3>To address the various methods that the <code>dodge</code> function could be invoked on pilot devices, the API provides the following endpoints to provide the widest coverage possible: To enter dodge mode at the current course <pre><code class="typescript">POST "/signalk/v2/api/vessels/self/autopilots/{id}/dodge" </code><button type="button">Copy</button></pre> To enter dodge mode and change course by 5 degrees starboard <pre><code class="typescript">PUT "/signalk/v2/api/vessels/self/autopilots/{id}/dodge" {"value": 5, "units": "deg"} </code><button type="button">Copy</button></pre> To enter dodge mode and change course by 5 degrees port <pre><code class="typescript">PUT "/signalk/v2/api/vessels/self/autopilots/{id}/dodge" {"value": -5, "units": "deg"} </code><button type="button">Copy</button></pre> To cancel dodge mode <pre><code class="typescript">DELETE "/signalk/v2/api/vessels/self/autopilots/{id}/dodge" </code><button type="button">Copy</button></pre> </div></div><div class="col-sidebar"><div class="page-menu"><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../../assets/icons.svg#icon-chevronDown"></use></svg><h3>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#common-operations">Common Operations</a><a href="#the-default-autopilot">The Default Autopilot</a><ul><li><a href="#getting-the-default-autopilot-identifier">Getting the Default Autopilot Identifier</a></li><li><a href="#setting-an-autopilot-as-the-default">Setting an Autopilot as the Default</a></li></ul><a href="#listing-the-available-autopilots">Listing the available Autopilots</a><a href="#autopilot-deltas">Autopilot Deltas</a><a href="#autopilot-notifications">Autopilot Notifications</a><a href="#autopilot-offline--unreachable">Autopilot offline / unreachable</a><a href="#autopilot-actions">Autopilot Actions</a><a href="#autopilot-operations">Autopilot Operations</a><ul><li><a href="#retrieving-autopilot-status">Retrieving Autopilot Status</a></li><li><a href="#setting-the-autopilot-state">Setting the Autopilot State</a></li><li><a href="#getting-the-autopilot-state">Getting the Autopilot State</a></li><li><a href="#setting-the-autopilot-mode">Setting the Autopilot Mode</a></li><li><a href="#getting-the-autopilot-mode">Getting the Autopilot Mode</a></li><li><a href="#setting-the-target-value">Setting the Target value</a></li><li><a href="#getting-the-current-target-value">Getting the current Target value</a></li><li><a href="#engaging--disengaging-the-autopilot">Engaging / Disengaging the Autopilot</a></li><li><a href="#perform-a-tack">Perform a Tack</a></li><li><a href="#perform-a-gybe">Perform a Gybe</a></li><li><a href="#steer-to-current-destination">Steer to current destination</a></li><li><a href="#advancing-waypoint">Advancing Waypoint</a></li><li><a href="#dodging-obstacles">Dodging Obstacles</a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../../modules.html">Signal K</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></footer><div class="overlay"></div></body></html>