Hi @niklasebner -
Checkout this thread - I think a LUA script might be better suited to your application. You could create an extension that the LUA extension reaches via HTTP request, to trigger whatever functionality you need - and the LUA script itself makes controlling GPIO and general vehicle functionality much easier!
Both that winch lua script, and the lua script in the top level of this repository control a vehicle. The HAUV.lua is a work in progress, but shows how you can use an http request to trigger video recording in an extension running on BlueOS! I’ve got some issues in the Dockerfile at the moment, but it has passed an initial field test - more to come with a write up eventually!
Mavlink2Rest technically does allow for control and not just receipt of telemetry, but we don’t have much documentation on the POST requests to do that yet…
I’d be curious what task you’d like the vehicle to perform!