signalk-autopilot

signalk-autopilot is composed of 2 modules:

• A graphical interface that emulates a Raymarine remote control
  To be able to acknowledge pilot related alarms through the GUI you need to install the signalk-alarm-silencer plugin.
• A back-end API described below.

Supports

• Raymarine NMEA 2000
• Seatalk 1 Autopilots
• Simrad Autopilots (currently only tested with a NAC-3), not support yet to set target heading or wind angle, only increment and decriment them. Requires SK Server 2.17.x

For Seatalk 1 Autopilots to work, a device that can translate Seatalk datagrams back and forth within an NMEA0183 sentence is required. They may be purchased from Digital Yacht, Shipmodul (Miniplex 3) or gadgetpool. For an example guide, see TinyNMEA-USB.md

Also, signalk-to-nmea0183 plugin with APB (for route control) and MWV (for wind steer) should be enabled.

Current State

The current state of the autopilot can be found at the following paths:

• steering.autopilot.target.headingMagnetic
• steering.autopilot.target.windAngleApparent
• steering.autopilot.state (standby, wind, route, or auto)
• steering.autopilot.hullType (Raymarine n2k only, unknown, sailSlowTurn, sail, sailCatamaran, power, powerSlowTurn, powerFastTurn)

API

All messages to plugin are done using PUT requests. These can be done via HTTP or over WebSockets.

Detailed info on PUT and Request/Response

Http:

PUT http://localhost:3000/signalk/v1/api/vessels/self/steering/autopilot/target/headingMagnetic
{
  "value": 88,
}

WebSockets:

{
  "context": "vessels.self",
  "requestId": "184743-434373-348483",
  "put": {
    "path": "steering.autopilot.target.headingMagnetic",
    "value": 88
  }
}

Advance Waypoint

PUT http://localhost:3000/signalk/v1/api/vessels/self/steering/autopilot/actions/advanceWaypoint
{
  "value": 1,
}

Set Autopilot State

The value can be auto, wind, route, or standby

PUT http://localhost:3000/signalk/v1/api/vessels/self/steering/autopilot/state
{
  "value": "auto",
}

Change Target Heading or Wind Angle

The value is in degrees and is the amount to change. So when in auto at a heading of 180, a value of -10 will change the target heading would be changed to 170

PUT http://localhost:3000/signalk/v1/api/vessels/self/steering/autopilot/actions/adjustHeading
{
  "value": -10,
}

Tack to port or starboard

The value is port or starboard.

PUT http://localhost:3000/signalk/v1/api/vessels/self/steering/autopilot/actions/tack
{
  "value": "port",
}

Target Heading

The value is the heading in degrees.

PUT http://localhost:3000/signalk/v1/api/vessels/self/steering/autopilot/target/headingMagnetic
{
  "value": 80,
}

Target Wind Angle

The value is the wind angle in radians.

PUT http://localhost:3000/signalk/v1/api/vessels/self/steering/autopilot/target/windAngleApparent
{
  "value": 1.52,
}

Hull Type (Raymarine N2K Only)

The value is the hull type.

PUT http://localhost:3000/signalk/v1/api/vessels/self/steering/autopilot/hullType
{
  "value": "power",
}