Hi,
I am trying to display the “gain” of the ROV using Mavlink2rest. By “gain”, I mean the intensity of control commands. In other words, at which speed the ROV will navigate (slow, fast, very fast, etc.) but not the current speed (km/h) ; I want to display the “power” provided to throttles to move the ROV… like the gearbox of a car. Hope I am clear 
I don’t know where to find this information in Mavlink (flow received below).
Any idea ?
Thank you.
{
"vehicles": {
"1": {
"id": 1,
"components": {
"1": {
"id": 1,
"messages": {
"GLOBAL_POSITION_INT": {
"message": {
"type": "common",
"type": "GLOBAL_POSITION_INT",
"time_boot_ms": 3327439,
"lat": 0,
"lon": 0,
"alt": -200,
"relative_alt": -206,
"vx": 1,
"vy": -2,
"vz": 0,
"hdg": 34875
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.139238485+02:00",
"last_update": "2022-09-21T14:53:03.065066978+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"RAW_IMU": {
"message": {
"type": "common",
"type": "RAW_IMU",
"time_usec": 3327445284,
"xacc": 11,
"yacc": -19,
"zacc": -1072,
"xgyro": -4,
"ygyro": 4,
"zgyro": 25,
"xmag": 245,
"ymag": 61,
"zmag": 259,
"id": 0,
"temperature": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:30.775417465+02:00",
"last_update": "2022-09-21T14:53:03.080692197+02:00",
"counter": 32938,
"frequency": 10.066626
}
}
},
"STATUSTEXT": {
"message": {
"type": "common",
"type": "STATUSTEXT",
"severity": {
"type": "MAV_SEVERITY_CRITICAL"
},
"text": [
"L",
"o",
"s",
"t",
" ",
"m",
"a",
"n",
"u",
"a",
"l",
" ",
"c",
"o",
"n",
"t",
"r",
"o",
"l",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000",
"\u0000"
],
"id": 0,
"chunk_seq": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:30.443814830+02:00",
"last_update": "2022-09-21T14:39:24.567498918+02:00",
"counter": 11,
"frequency": 0.0044824774
}
}
},
"SCALED_PRESSURE2": {
"message": {
"type": "common",
"type": "SCALED_PRESSURE2",
"time_boot_ms": 3327445,
"press_abs": 1040.2,
"press_diff": 0.0,
"temperature": 2188
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.279492724+02:00",
"last_update": "2022-09-21T14:53:03.085309676+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"RC_CHANNELS": {
"message": {
"type": "common",
"type": "RC_CHANNELS",
"time_boot_ms": 3327442,
"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,
"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,
"chancount": 0,
"rssi": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.279465811+02:00",
"last_update": "2022-09-21T14:53:03.080678767+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"SYS_STATUS": {
"message": {
"type": "common",
"type": "SYS_STATUS",
"onboard_control_sensors_present": {
"bits": 52493583
},
"onboard_control_sensors_enabled": {
"bits": 35691791
},
"onboard_control_sensors_health": {
"bits": 53517327
},
"load": 410,
"voltage_battery": 10905,
"current_battery": 61,
"drop_rate_comm": 0,
"errors_comm": 0,
"errors_count1": 0,
"errors_count2": 0,
"errors_count3": 0,
"errors_count4": 0,
"battery_remaining": -1
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.142152526+02:00",
"last_update": "2022-09-21T14:53:03.078995621+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"SERVO_OUTPUT_RAW": {
"message": {
"type": "common",
"type": "SERVO_OUTPUT_RAW",
"time_usec": 3327442493,
"servo1_raw": 1500,
"servo2_raw": 1500,
"servo3_raw": 1500,
"servo4_raw": 1500,
"servo5_raw": 1500,
"servo6_raw": 1500,
"servo7_raw": 1100,
"servo8_raw": 1500,
"port": 0,
"servo9_raw": 0,
"servo10_raw": 0,
"servo11_raw": 1500,
"servo12_raw": 0,
"servo13_raw": 0,
"servo14_raw": 0,
"servo15_raw": 0,
"servo16_raw": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.279455335+02:00",
"last_update": "2022-09-21T14:53:03.080650806+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"MOUNT_STATUS": {
"message": {
"type": "MOUNT_STATUS",
"pointing_a": 0,
"pointing_b": 0,
"pointing_c": 0,
"target_system": 0,
"target_component": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280665773+02:00",
"last_update": "2022-09-21T14:53:03.100945186+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"NAV_CONTROLLER_OUTPUT": {
"message": {
"type": "common",
"type": "NAV_CONTROLLER_OUTPUT",
"nav_roll": -1.5654263,
"nav_pitch": 2.507965,
"alt_error": 0.20932443,
"aspd_error": 0.0,
"xtrack_error": 0.0,
"nav_bearing": -11,
"target_bearing": 0,
"wp_dist": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.279430271+02:00",
"last_update": "2022-09-21T14:53:03.079024851+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"BATTERY_STATUS": {
"message": {
"type": "common",
"type": "BATTERY_STATUS",
"current_consumed": 560,
"energy_consumed": 220,
"temperature": 32767,
"voltages": [
10905,
65535,
65535,
65535,
65535,
65535,
65535,
65535,
65535,
65535
],
"current_battery": 61,
"id": 0,
"battery_function": {
"type": "MAV_BATTERY_FUNCTION_UNKNOWN"
},
"mavtype": {
"type": "MAV_BATTERY_TYPE_UNKNOWN"
},
"battery_remaining": 96,
"time_remaining": 0,
"charge_state": {
"type": "MAV_BATTERY_CHARGE_STATE_UNDEFINED"
}
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.288480457+02:00",
"last_update": "2022-09-21T14:53:03.115228435+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"PARAM_VALUE": {
"message": {
"type": "common",
"type": "PARAM_VALUE",
"param_value": 0.35,
"param_count": 920,
"param_index": 65535,
"param_id": [
"M",
"O",
"T",
"_",
"T",
"H",
"S",
"T",
"_",
"H",
"O",
"V",
"E",
"R",
"\u0000",
"\u0000"
],
"param_type": {
"type": "MAV_PARAM_TYPE_REAL32"
}
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:30.436689467+02:00",
"last_update": "2022-09-21T14:14:35.915420169+02:00",
"counter": 926,
"frequency": 0.9595855
}
}
},
"RANGEFINDER": {
"message": {
"type": "RANGEFINDER",
"distance": 0.0,
"voltage": 0.0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280648542+02:00",
"last_update": "2022-09-21T14:53:03.096374204+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"SYSTEM_TIME": {
"message": {
"type": "common",
"type": "SYSTEM_TIME",
"time_unix_usec": 0,
"time_boot_ms": 3327445
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280558211+02:00",
"last_update": "2022-09-21T14:53:03.087159210+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"AHRS3": {
"message": {
"type": "AHRS3",
"roll": -0.027294206,
"pitch": 0.043786444,
"yaw": -0.19638197,
"altitude": 0.0,
"lat": 0,
"lng": 0,
"v1": 0.0,
"v2": 0.0,
"v3": 0.0,
"v4": 0.0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280621302+02:00",
"last_update": "2022-09-21T14:53:03.091916793+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"AHRS": {
"message": {
"type": "AHRS",
"omegaIx": 0.0041107005,
"omegaIy": -0.0039922413,
"omegaIz": -0.025357772,
"accel_weight": 0.0,
"renorm_val": 0.0,
"error_rp": 0.0005581397,
"error_yaw": 0.003576947
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280579678+02:00",
"last_update": "2022-09-21T14:53:03.088846049+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"VIBRATION": {
"message": {
"type": "common",
"type": "VIBRATION",
"time_usec": 3327452416,
"vibration_x": 0.02604795,
"vibration_y": 0.0374066,
"vibration_z": 0.031104675,
"clipping_0": 0,
"clipping_1": 1,
"clipping_2": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280722023+02:00",
"last_update": "2022-09-21T14:53:03.115216606+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"GPS_RAW_INT": {
"message": {
"type": "common",
"type": "GPS_RAW_INT",
"time_usec": 0,
"lat": 0,
"lon": 0,
"alt": 0,
"eph": 65535,
"epv": 65535,
"vel": 0,
"cog": 0,
"fix_type": {
"type": "GPS_FIX_TYPE_NO_GPS"
},
"satellites_visible": 0,
"alt_ellipsoid": 0,
"h_acc": 0,
"v_acc": 0,
"vel_acc": 0,
"hdg_acc": 0,
"yaw": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280531518+02:00",
"last_update": "2022-09-21T14:53:02.191173620+02:00",
"counter": 3207,
"frequency": 0.98073393
}
}
},
"VFR_HUD": {
"message": {
"type": "common",
"type": "VFR_HUD",
"airspeed": 0.0,
"groundspeed": 0.030676767,
"alt": -0.19999999,
"climb": -0.0008012476,
"heading": 348,
"throttle": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.279444326+02:00",
"last_update": "2022-09-21T14:53:03.079429736+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"MISSION_CURRENT": {
"message": {
"type": "common",
"type": "MISSION_CURRENT",
"seq": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.279439162+02:00",
"last_update": "2022-09-21T14:53:03.079030718+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"SCALED_PRESSURE": {
"message": {
"type": "common",
"type": "SCALED_PRESSURE",
"time_boot_ms": 3327445,
"press_abs": 1041.6583,
"press_diff": 0.0,
"temperature": 5096
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.279488334+02:00",
"last_update": "2022-09-21T14:53:03.083675253+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"HWSTATUS": {
"message": {
"type": "HWSTATUS",
"Vcc": 5064,
"I2Cerr": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280635301+02:00",
"last_update": "2022-09-21T14:53:03.094601950+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"SENSOR_OFFSETS": {
"message": {
"type": "SENSOR_OFFSETS",
"mag_declination": 0.0,
"raw_press": 104020,
"raw_temp": 2188,
"gyro_cal_x": -0.02232308,
"gyro_cal_y": 0.004617908,
"gyro_cal_z": 0.036828116,
"accel_cal_x": -0.023504458,
"accel_cal_y": -0.039480276,
"accel_cal_z": 0.055241283,
"mag_ofs_x": 195,
"mag_ofs_y": 59,
"mag_ofs_z": -57
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:35.141208144+02:00",
"last_update": "2022-09-21T14:53:02.791457791+02:00",
"counter": 2994,
"frequency": 0.9164371
}
}
},
"HEARTBEAT": {
"message": {
"type": "common",
"type": "HEARTBEAT",
"custom_mode": 19,
"mavtype": {
"type": "MAV_TYPE_SUBMARINE"
},
"autopilot": {
"type": "MAV_AUTOPILOT_ARDUPILOTMEGA"
},
"base_mode": {
"bits": 81
},
"system_status": {
"type": "MAV_STATE_STANDBY"
},
"mavlink_version": 3
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:30.438031844+02:00",
"last_update": "2022-09-21T14:53:02.153361005+02:00",
"counter": 3302,
"frequency": 1.0094773
}
}
},
"COMMAND_ACK": {
"message": {
"type": "common",
"type": "COMMAND_ACK",
"command": {
"type": "MAV_CMD_DO_SET_SERVO"
},
"result": {
"type": "MAV_RESULT_ACCEPTED"
},
"progress": 0,
"result_param2": 0,
"target_system": 0,
"target_component": 0
},
"status": {
"time": {
"first_update": "2022-09-21T14:06:19.911680418+02:00",
"last_update": "2022-09-21T14:06:23.064481655+02:00",
"counter": 61,
"frequency": 20.333334
}
}
},
"ATTITUDE": {
"message": {
"type": "common",
"type": "ATTITUDE",
"time_boot_ms": 3327439,
"roll": -0.027299784,
"pitch": 0.043784752,
"yaw": -0.19638225,
"rollspeed": -0.0007354999,
"pitchspeed": 0.00019029994,
"yawspeed": 0.0005773995
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.139227249+02:00",
"last_update": "2022-09-21T14:53:03.060012200+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"EKF_STATUS_REPORT": {
"message": {
"type": "EKF_STATUS_REPORT",
"velocity_variance": 0.0,
"pos_horiz_variance": 0.006015331,
"pos_vert_variance": 0.0111068,
"compass_variance": 0.031953026,
"terrain_alt_variance": 0.0,
"flags": {
"bits": 485
},
"airspeed_variance": 0.0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280700323+02:00",
"last_update": "2022-09-21T14:53:03.115203347+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"POWER_STATUS": {
"message": {
"type": "common",
"type": "POWER_STATUS",
"Vcc": 5062,
"Vservo": 5082,
"flags": {
"bits": 6
}
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.223028496+02:00",
"last_update": "2022-09-21T14:53:03.079008968+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"MEMINFO": {
"message": {
"type": "MEMINFO",
"brkval": 0,
"freemem": 65535,
"freemem32": 110200
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.278804879+02:00",
"last_update": "2022-09-21T14:53:03.079015433+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"AHRS2": {
"message": {
"type": "AHRS2",
"roll": -0.026891893,
"pitch": 0.044384748,
"yaw": -0.22122635,
"altitude": 0.0,
"lat": 0,
"lng": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.280599268+02:00",
"last_update": "2022-09-21T14:53:03.090577475+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"SCALED_IMU2": {
"message": {
"type": "common",
"type": "SCALED_IMU2",
"time_boot_ms": 3327445,
"xacc": -20,
"yacc": -7,
"zacc": -999,
"xgyro": -7,
"ygyro": -54,
"zgyro": -1,
"xmag": 0,
"ymag": 0,
"zmag": 0,
"temperature": 0
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.279481332+02:00",
"last_update": "2022-09-21T14:53:03.080704351+02:00",
"counter": 32937,
"frequency": 10.069398
}
}
},
"NAMED_VALUE_FLOAT": {
"message": {
"type": "common",
"type": "NAMED_VALUE_FLOAT",
"time_boot_ms": 3327452,
"value": 0.0,
"name": [
"I",
"n",
"p",
"u",
"t",
"H",
"o",
"l",
"d",
"\u0000"
]
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:31.288495850+02:00",
"last_update": "2022-09-21T14:53:03.118083996+02:00",
"counter": 230559,
"frequency": 70.48579
}
}
},
"TIMESYNC": {
"message": {
"type": "common",
"type": "TIMESYNC",
"tc1": 0,
"ts1": 3320812464001
},
"status": {
"time": {
"first_update": "2022-09-21T13:58:34.775412091+02:00",
"last_update": "2022-09-21T14:52:56.431287453+02:00",
"counter": 330,
"frequency": 0.101195954
}
}
}
}
}
}
}
}
}
