That information is available via the MAVLink telemetry - more specifically
You can access that via the built in MAVLink2REST service[1], or by configuring an extra MAVLink endpoint and connecting to it via a library like Pymavlink.
That depends somewhat on your formatting and distribution requirements, but assuming you need some kind of custom format specific to the software you’re wanting to send the data to then the recommended approach for running custom code onboard the vehicle is to create an Extension. Alternatively you could run your MAVLink receiving + translation code on your control station computer, in case that’s easier for you to set up and maintain.
That’s easiest to check out via the Available Services page ↩︎