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Connect to PLC Siemens

Hi everyone,
i would like to know if is possible to connect rpi to a network with a PLC siemens for it can get data of the PX4 Autopilot . i know that Snap7 library for python exists. maybe modify companion software…i dont know

What is your end goal? I have little experience with PLCs. I would try mavlink2rest, as it is already part of Companion. I expect it should be easier to interact with a web API using the PLC than needing to implement MAVLink on it somehow.