U2 · RTK-EASY Rover/Autopilot

RTK Autopilot REST API — User Guide

This guide is for a user or integrator familiar with REST principles. It describes which HTTP requests RTK AUTOPILOT supports, what data is sent, and what each request is used for.

Assume the RTK AUTOPILOT IP address is 192.168.1.120. All API addresses then start with http://192.168.1.120/api/...

User Guide

1. Getting device status

Returns the current RTK AUTOPILOT status.

Example response

{
  "wifiBars": 4, "qlt": "FIX", "sats": 24, "age": 0.5,
  "ntrip": "Connected", "battery": 12.48, "connMode": "ntrip",
  "dataFmt": "NMEA", "apMode": true,
  "lat": 54.89876543, "lng": 23.91234567, "alt": 82.315,
  "heading": 127.4, "rmcHeading": 126.9, "fixHeadHeading": 127.4,
  "autopilotHeadingSource": "fixhead", "autopilot": true,
  "wpIndex": 3, "wpCount": 12, "activeRoute": 1,
  "serverEnabled": true, "serverRouteLoaded": true,
  "serverWpCount": 85, "serverStatus": "LOADED", "apError": ""
}

Key fields

Field	Meaning
wifiBars	Wi-Fi signal strength
qlt	GNSS position quality, e.g. GPS, FLOAT, FIX
sats	Number of satellites in use
age	Age of RTK corrections
ntrip	NTRIP connection status
battery	Supply voltage
lat / lng	Current latitude / longitude
alt	Altitude
heading	Current heading, in degrees
autopilot	true — the autopilot is running; false — it is not
wpIndex	Index of the waypoint currently being driven to
wpCount	Number of waypoints stored locally
serverRouteLoaded	Whether a route from the server has been loaded
serverWpCount	Number of waypoints in the server route
apError	Autopilot error text, if any

2. Getting the waypoint list

Returns the waypoints held in RTK AUTOPILOT's memory.

{
  "count": 3, "max": 300, "activeRoute": 0, "serverEnabled": true,
  "points": [
    { "id": 1, "lat": 54.89876543, "lng": 23.91234567, "alt": 82.315,
      "route": 0, "closed": false, "quality": "FIX" }
  ],
  "serverCount": 0, "serverPoints": []
}

points — waypoints collected by the user. serverPoints — the route received from an external route server, ready for the autopilot.

3. Adding the current position as a waypoint

Adds the current RTK position as a new waypoint. No request body is needed — RTK AUTOPILOT reads the coordinates straight from the GNSS receiver.

Example success response

{ "ok": true, "id": 4, "lat": 54.89876543, "lng": 23.91234567,
  "alt": 82.315, "quality": "FIX" }

This lets a user physically mark points with the RTK antenna, without sending coordinates themselves.

4. Saving collected points as a line

Finishes the collected waypoints as a line. At least 2 points are required.

{ "ok": true, "type": "line" }

A line can be used as a path or any other linear object.

5. Saving collected points as an area

Finishes the collected waypoints as a closed area. At least 3 points are required. RTK AUTOPILOT automatically closes the polygon by adding the first point at the end.

{ "ok": true, "type": "area" }

This mode can be used, for example, to hand off a work area's boundary to a route planning server.

The waypoint server must be enabled for the area function to work.

6. Deleting the last waypoint

Deletes the last recorded waypoint.

{ "ok": true }

7. Deleting all waypoints

Deletes the local waypoints and the route received from the server. Also stops the autopilot.

{ "ok": true }

8. Setting the waypoint server

Specifies the external server that processes the collected geometry and can produce the robot's final route.

Content-Type: application/x-www-form-urlencoded

wpEndpoint=http://192.168.1.50&wpServerEnabled=1

Only give the server's base address:

http://192.168.1.50

Do not write http://192.168.1.50/api/waypoints — RTK AUTOPILOT appends /api/waypoints itself.

{ "ok": true }

9. Sending waypoints to the route server

A request to the RTK AUTOPILOT device, telling it to hand off its collected waypoints to the configured external server.

RTK AUTOPILOT then sends, on its own:

POST http://SERVER/api/waypoints
Content-Type: application/json

Example data sent to the server

{
  "deviceId": "AA:BB:CC:DD:EE:FF", "source": "rover",
  "routes": [
    { "id": 0, "type": "area", "name": "Area 1",
      "points": [
        { "lat": 54.898765, "lng": 23.912345, "alt": 82.3, "quality": "FIX" },
        { "lat": 54.898800, "lng": 23.912500, "alt": 82.4, "quality": "FIX" }
      ] }
  ]
}

Field	Meaning
deviceId	RTK AUTOPILOT device identifier / MAC address
source	Data source — "rover" in this case
routes	List of objects created by the user
type	Object type: line or area
points	The object's RTK coordinates

10. What RTK AUTOPILOT expects from the route server

The server can return an already-computed robot route.

Simplest format

{ "points": [
  { "lat": 54.898700, "lng": 23.912300, "alt": 82.1 },
  { "lat": 54.898750, "lng": 23.912450, "alt": 82.2 },
  { "lat": 54.898810, "lng": 23.912600, "alt": 82.2 }
] }

Minimum required fields per point: { "lat": 54.898700, "lng": 23.912300 }. alt is optional — 0 is used if it's missing. The route must have at least 2 valid points.

RTK AUTOPILOT also understands: { "route": { "points": [...] } } or { "routes": [ { "points": [...] } ] }.

If the server responds to the POST with a route immediately, RTK AUTOPILOT loads it automatically. In that case /api/wp/server/send can return:

{ "ok": true, "status": "SENT_AND_LOADED" }

11. Fetching a route from the server

Tells RTK AUTOPILOT to query the configured server.

RTK AUTOPILOT then sends:

GET http://SERVER/api/waypoints

The server must return waypoints in one of the JSON formats described above.

On success

{ "ok": true, "status": "LOADED", "count": 85 }

This means an 85-waypoint route was received from the server and is ready for the autopilot.

12. Starting the autopilot

Starts autonomous driving along the current route.

{ "ok": true }

If the autopilot cannot be started:

{ "ok": false, "error": "..." }

In that case the HTTP status may be 409 Conflict.

13. Stopping the autopilot

Stops the autopilot and the robot.

{ "ok": true }

14. Manual robot control

The command is passed as a URL parameter:

POST /api/drive?cmd=COMMAND

Command	Meaning
F	Forward
B	Backward
L	Turn left
R	Turn right
S	Stop

Example — drive forward: POST /api/drive?cmd=F · Stop: POST /api/drive?cmd=S

{ "ok": true }

Important: an F, B, L or R command takes control away from the autopilot — an active autopilot is switched off.

Forced stop

POST /api/drive?cmd=S&force=1

This stops the robot and turns off the autopilot regardless of the current control state.

15. Typical workflow

1. Add RTK points: POST /api/wp/add
2. Add another point: POST /api/wp/add
3. Repeat until the required area is collected.
4. Finish the area: POST /api/wp/save-area
5. Send the area to the route server: POST /api/wp/server/send
6. RTK AUTOPILOT sends it on as POST /api/waypoints
7. The server computes the robot's path and returns { "points": [ ... ] }
8. RTK AUTOPILOT stores the received route.
9. Start the autopilot: POST /api/autopilot/start
10. Check status while driving: GET /api/status
11. Stop the autopilot: POST /api/autopilot/stop

Quick API reference

Endpoint	Purpose
GET /api/status	Get RTK AUTOPILOT status
GET /api/wp/list	Get the waypoint list
POST /api/wp/add	Add the current RTK position as a waypoint
POST /api/wp/save-line	Finish collected points as a line
POST /api/wp/save-area	Finish collected points as an area
POST /api/wp/delete-last	Delete the last waypoint
POST /api/wp/clear	Delete waypoints and the server route
POST /api/waypoint-config	Set the external waypoint/route server
POST /api/wp/server/send	Send collected geometry to the server
POST /api/wp/server/load	Fetch the ready route from the server
POST /api/autopilot/start	Start the autopilot
POST /api/autopilot/stop	Stop the autopilot
POST /api/drive?cmd=F	Drive forward
POST /api/drive?cmd=B	Drive backward
POST /api/drive?cmd=L	Turn left
POST /api/drive?cmd=R	Turn right
POST /api/drive?cmd=S	Stop
POST /api/drive?cmd=S&force=1	Force-stop the robot and the autopilot