From b5912ff7195f424c3cd5269962d77d40a14da7d8 Mon Sep 17 00:00:00 2001
From: panaaj <38519157+panaaj@users.noreply.github.com>
Date: Mon, 25 Nov 2024 15:39:03 +1030
Subject: [PATCH] Dodge operations

---
 .../plugins/autopilot_provider_plugins.md     | 275 +++++++++---------
 docs/src/develop/rest-api/autopilot_api.md    | 115 +++++---
 docs/src/develop/rest-api/open_api.md         |   2 +-
 packages/server-api/src/autopilotapi.ts       |  23 +-
 src/api/autopilot/index.ts                    | 258 +++++++++-------
 src/api/autopilot/openApi.json                |  90 +++---
 src/api/autopilot/openApi.ts                  |   2 +-
 src/api/index.ts                              |   5 +
 src/interfaces/plugins.ts                     |  20 +-
 9 files changed, 431 insertions(+), 359 deletions(-)

diff --git a/docs/src/develop/plugins/autopilot_provider_plugins.md b/docs/src/develop/plugins/autopilot_provider_plugins.md
index 0332262e1..8f794ccfa 100644
--- a/docs/src/develop/plugins/autopilot_provider_plugins.md
+++ b/docs/src/develop/plugins/autopilot_provider_plugins.md
@@ -6,7 +6,7 @@ _This document should be read in conjunction with the [SERVER PLUGINS](./server_
 
 ## Overview
 
-The Signal K Autopilot API defines endpoints under the path `/signalk/v2/api/vessels/self/steering/autopilots` providing a way for all Signal K clients to perform common autopilot operations independent of the autopilot device in use. The API is defined in an [OpenAPI](/doc/openapi/?urls.primaryName=autopilot) document.
+The Signal K Autopilot API defines endpoints under the path `/signalk/v2/api/vessels/self/autopilots` providing a way for all Signal K clients to perform common autopilot operations independent of the autopilot device in use. The API is defined in an [OpenAPI](/doc/openapi/?urls.primaryName=autopilot) document.
 
 Requests made to the Autopilot API are received by the Signal K Server, where they are validated and an authorisation check performed, before being passed on to a **provider plugin** to action the request on the autopilot device.
 
@@ -27,27 +27,10 @@ An autopilot provider plugin is a Signal K server plugin that implements the **A
 - Tells server the autopilot devices provided for by the plugin
 - Registers the methods used to action requests passed from the server to perform autopilot operations.
 
-Note: multiple providers can be registered and each provider can manage one or more autopilot devices.
+The `AutopilotProvider` interface is defined in _`@signalk/server-api`_
 
-The `AutopilotProvider` interface is defined as follows in _`@signalk/server-api`_:
+Multiple providers can be registered and each provider can manage one or more autopilot devices.
 
-```typescript
-interface AutopilotProvider {
-  getData(deviceId: string): Promise<AutopilotInfo>
-  getState(deviceId: string): Promise<string>
-  setState(state: string, deviceId: string): Promise<boolean>
-  getMode(deviceId: string): Promise<string>
-  setMode(mode: string, deviceId: string): Promise<void>
-  getTarget(deviceId: string): Promise<number>
-  setTarget(value: number, deviceId: string): Promise<void>
-  adjustTarget(value: number, deviceId: string): Promise<void>
-  engage(deviceId: string): Promise<void>
-  disengage(deviceId: string): Promise<void>
-  tack(direction: TackGybeDirection, deviceId: string): Promise<void>
-  gybe(direction: TackGybeDirection, deviceId: string): Promise<void>
-  dodge(direction: TackGybeDirection, deviceId: string): Promise<void>
-}
-```
 
 **Note: An Autopilot Provider plugin MUST:**
 - Implement all Autopilot API interface methods.
@@ -55,6 +38,7 @@ interface AutopilotProvider {
 - Ensure the `engaged` path attribute value is maintained to reflect the operational status of the autopilot.
 - Map the `engage` and `disengage` operations to an appropriate autopilot device `state`.
 - Set the state as `off-line` if the autopilot device is not connected or unreachable.
+- Set the mode as `dodge` when the autopilot device is is in dodge mode.
 
 
 ### Registering as an Autopilot Provider
@@ -69,9 +53,9 @@ app.registerAutopilotProvider(provider: AutopilotProvider, devices: string[])
 where:
 
 - `provider`: is a valid **AutopilotProvider** object
-- `devices`: is an array of identifiers for the autopilot devices managed by the plugin.
+- `devices`: is an array of identifiers indicating the autopilot devices managed by the plugin.
 
-_Example: Plugin registering as a routes & waypoints provider._
+_Example: Plugin registering as an autopilot provider._
 ```javascript
 import { AutopilotProvider } from '@signalk/server-api'
 
@@ -83,18 +67,19 @@ module.exports = function (app) {
     }
 
     const autopilotProvider: AutopilotProvider = {
-        getData: (deviceId: string) => { return ... },
-        getState: (deviceId: string) => { return ... },
-        setState: (state: string, deviceId: string) => { return true },
-        getMode: (deviceId: string) => { return ... },
-        setMode: (mode: string, deviceId: string) => { ... },
-        getTarget: (deviceId: string) => { return ... },
-        setTarget(value: number, deviceId: string) => { ... },
-        adjustTarget(value: number, deviceId: string) => { ... },
-        engage: (deviceId: string) => { ... },
-        disengage: (deviceId: string) => { ... },
-        tack:(direction: TackGybeDirection, deviceId: string) => { ... },
-        gybe:(direction: TackGybeDirection, deviceId: string) => { ... }
+        getData: (deviceId) => { return ... },
+        getState: (deviceId) => { return ... },
+        setState: (state, deviceId) => { ... },
+        getMode: (deviceId) => { return ... },
+        setMode: (mode, deviceId) => { ... },
+        getTarget: (deviceId) => { return ... },
+        setTarget(value, deviceId) => { ... },
+        adjustTarget(value, deviceId) => { ... },
+        engage: (deviceId) => { ... },
+        disengage: (deviceId) => { ... },
+        tack:(direction, deviceId) => { ... },
+        gybe:(direction, deviceId) => { ... },
+        dodge:(value, deviceId) => { ... }
     }
 
     const pilots = ['pilot1', 'pilot2']
@@ -113,63 +98,56 @@ module.exports = function (app) {
 }
 ```
 
-### Updates from Autopilot device
+### Sending Updates and Notifications from Autopilot device
 
-Updates from an autopilot device are sent to the Autopillot API via the `autopilotUpdate` interface method.
+The Autopilot API is responsible for sending both update and notification `deltas` to Signal K clients.
 
-Typically an autopilot provider plugin will call `autopilotUpdate` when receiving data from the autopilot device.
+Data received from an autopilot device, regardless of the communications protocol (NMEA2000, etc), should be sent to the Autopilot API by calling the `autopilotUpdate` interface method.
 
-_Note: All updates originating from the autopilot device, regardless of the communications protocol (NMEA2000, etc) should be sent to the Autopilot API using `autopilotUpdate`._
+This will ensure:
+- Default pilot status is correctly maintained
+- `steering.autopilot.*` both V1 and V2 deltas are sent
+
+**_Important! The values provided via `autopilotUpdate` will be sent in the relevant delta message, so ensure they are in the correct units (e.g. angles in radians, etc)._**
 
 The function has the following signature:
 
 ```typescript
-app.autopilotUpdate(deviceID: string, attrib: AutopilotUpdateAttrib, value: Value)
+app.autopilotUpdate(deviceID: string, apInfo: {[key:string]: Value})
 ```
 where:
 
 - `deviceId`: is the autopilot device identifier
-- `attrib`: is the attribute / path being updated
-- `value`: the new value.
+- `appInfo`: object containing values keyed by <AutopilotInfo> attributes _(as defined in @signalk/server-api)_
 
-_Example:_
+_Example Update:_
 ```javascript
-app.autopilotUpdate('my-pilot', 'target', 1.52789)
-app.autopilotUpdate('my-pilot', 'mode', 'compass')
+app.autopilotUpdate('my-pilot', {
+  target: 1.52789,
+  mode: 'compass'
+})
 ```
 
-### Alarms from Autopilot device
-
-Alarms from an autopilot device are sent to the Autopillot API via the `autopilotAlarm` interface method.
-
-An autopilot provider plugin will call `autopilotAlarm` when the data received data from the autopilot device is an alarm.
-
-_Note: A set of normalised alarm names are defined and alarm messages from the autopilot device should be mapped to one of the following:_
+Notifications / Alarms are sent using one of the normalised alarm names below as the path and a `Notification` as the value.
 
-- `waypointAdvance`
-- `waypointArrival`
-- `routeComplete`
-- `xte`
-- `heading`
-- `wind`
+- waypointAdvance
+- waypointArrival
+- routeComplete
+- xte
+- heading
+- wind
 
-The function has the following signature:
-
-```typescript
-app.autopilotAlarm(deviceID: string, alarmName: AutopilotAlarm, value: Notification)
-```
-where:
-
-- `deviceId`: is the autopilot device identifier
-- `alarmName`: string containing a normalised alarm name.
-- `value`: is a Signal K Notification object.
-
-_Example:_
+_Example Notification:_
 ```javascript
-app.autopilotAlarm('my-pilot', 'waypointAdvance', {
-  state: 'alert'
-  method: ['sound']
-  message: 'Waypoint Advance'
+app.autopilotUpdate('my-pilot', {
+  alarm: {
+    path: 'waypointAdvance',
+    value: {
+      state: 'alert'
+      method: ['sound']
+      message: 'Waypoint Advance'
+    }
+  }
 })
 ```
 
@@ -186,16 +164,14 @@ _Note: It is the responsibility of the autopilot provider plugin to map the valu
 
 
 _Example:_ 
-```
-GET signalk/v2/api/vessels/self/steering/autopilots/mypilot1
-```
-_AutopilotProvider method invocation:_
 ```javascript
+// API request
+GET /signalk/v2/api/vessels/self/autopilots/mypilot1
+
+// AutopilotProvider method invocation
 getData('mypilot1');
-```
 
-_Returns:_
-```javascript
+// Returns:
 {
   options: {
     states: [
@@ -225,16 +201,14 @@ _Returns:_
 returns: `Promise<{string}>`
 
 _Example:_ 
-```
-GET signalk/v2/api/vessels/self/steering/autopilots/mypilot1/state
-```
-_AutopilotProvider method invocation:_
 ```javascript
+// API request
+GET /signalk/v2/api/vessels/self/autopilots/mypilot1/state
+
+// AutopilotProvider method invocation
 getState('mypilot1');
-```
 
-_Returns:_
-```javascript
+// Returns:
 'auto'
 ```
 
@@ -244,22 +218,17 @@ _Returns:_
 - `state:` state value to set. Must be a valid state value.
 - `deviceId:` identifier of the autopilot device to query.
 
-returns: `Promise<{boolean}>` indicating the new value of `engaged`.
+returns: `Promise<{void}>`
 
 throws on error or if supplied state value is invalid.
 
 _Example:_ 
 ```javascript
-PUT signalk/v2/api/vessels/self/steering/autopilots/mypilot1/state {value: "standby"}
-```
-_AutopilotProvider method invocation:_
-```javascript
-setState('standby', 'mypilot1');
-```
+// API request
+PUT /signalk/v2/api/vessels/self/autopilots/mypilot1/state {value: "standby"}
 
-_Returns:_
-```javascript
-false
+// AutopilotProvider method invocation
+setState('standby', 'mypilot1');
 ```
 
 ---
@@ -270,16 +239,14 @@ false
 returns: `Promise<{string}>`
 
 _Example:_ 
-```
-GET signalk/v2/api/vessels/self/steering/autopilots/mypilot1/mode
-```
-_AutopilotProvider method invocation:_
 ```javascript
+// API request
+GET /signalk/v2/api/vessels/self/autopilots/mypilot1/mode
+
+// AutopilotProvider method invocation
 getMode('mypilot1');
-```
 
-_Returns:_
-```javascript
+// Returns:
 'compass'
 ```
 
@@ -295,17 +262,17 @@ throws on error or if supplied mode value is invalid.
 
 _Example:_ 
 ```javascript
-PUT signalk/v2/api/vessels/self/steering/autopilots/mypilot1/mode {value: "gps"}
-```
-_AutopilotProvider method invocation:_
-```javascript
+// API request
+PUT /signalk/v2/api/vessels/self/autopilots/mypilot1/mode {value: "gps"}
+
+// AutopilotProvider method invocation
 setMode('gps', 'mypilot1');
 ```
 
 ---
 **`setTarget(value, deviceId)`**: This method sets target for the autopilot device with the supplied identifier to the supplied value.
 
-- `value:` target value in radians.
+- `value:` target value in degrees.
 - `deviceId:` identifier of the autopilot device to query.
 
 returns: `Promise<{void}>`
@@ -314,17 +281,17 @@ throws on error or if supplied target value is outside the valid range.
 
 _Example:_ 
 ```javascript
-PUT signalk/v2/api/vessels/self/steering/autopilots/mypilot1/target {value: 0.361}
-```
-_AutopilotProvider method invocation:_
-```javascript
-setTarget(0.361, 'mypilot1');
+// API request
+PUT /signalk/v2/api/vessels/self/autopilots/mypilot1/target {value: 129}
+
+// AutopilotProvider method invocation
+setTarget(129, 'mypilot1');
 ```
 
 ---
 **`adjustTarget(value, deviceId)`**: This method adjusts target for the autopilot device with the supplied identifier by the supplied value.
 
-- `value:` value in radians to add to current target value.
+- `value:` value in degrees to add to current target value.
 - `deviceId:` identifier of the autopilot device to query.
 
 returns: `Promise<{void}>`
@@ -333,11 +300,11 @@ throws on error or if supplied target value is outside the valid range.
 
 _Example:_ 
 ```javascript
-PUT signalk/v2/api/vessels/self/steering/autopilots/mypilot1/target {value: 0.361}
-```
-_AutopilotProvider method invocation:_
-```javascript
-adjustTarget(0.0276, 'mypilot1');
+// API request
+PUT /signalk/v2/api/vessels/self/autopilots/mypilot1/target {value: 2}
+
+// AutopilotProvider method invocation
+adjustTarget(2, 'mypilot1');
 ```
 
 ---
@@ -351,10 +318,10 @@ throws on error.
 
 _Example:_ 
 ```javascript
-POST signalk/v2/api/vessels/self/steering/autopilots/mypilot1/engage
-```
-_AutopilotProvider method invocation:_
-```javascript
+// API request
+POST /signalk/v2/api/vessels/self/autopilots/mypilot1/engage
+
+// AutopilotProvider method invocation
 engage('mypilot1');
 ```
 
@@ -369,10 +336,10 @@ throws on error.
 
 _Example:_ 
 ```javascript
-POST signalk/v2/api/vessels/self/steering/autopilots/mypilot1/disengage
-```
-_AutopilotProvider method invocation:_
-```javascript
+// API request
+POST /signalk/v2/api/vessels/self/autopilots/mypilot1/disengage
+
+// AutopilotProvider method invocation
 disengage('mypilot1');
 ```
 
@@ -388,10 +355,10 @@ throws on error.
 
 _Example:_ 
 ```javascript
-POST signalk/v2/api/vessels/self/steering/autopilots/mypilot1/tack/port
-```
-_AutopilotProvider method invocation:_
-```javascript
+// API request
+POST /signalk/v2/api/vessels/self/autopilots/mypilot1/tack/port
+
+// AutopilotProvider method invocation
 tack('port', 'mypilot1');
 ```
 
@@ -407,32 +374,56 @@ throws on error.
 
 _Example:_ 
 ```javascript
-POST signalk/v2/api/vessels/self/steering/autopilots/mypilot1/gybe/starboard
-```
-_AutopilotProvider method invocation:_
-```javascript
+// API request
+POST /signalk/v2/api/vessels/self/autopilots/mypilot1/gybe/starboard
+
+// AutopilotProvider method invocation
 gybe('starboard', 'mypilot1');
 ```
 
 ---
-**`dodge(direction, deviceId)`**: This method instructs the autopilot device with the supplied identifier to manually override the rudder position by two (2) degrees in the supplied direction.
+**`dodge(value, deviceId)`**: This method instructs the autopilot device with the supplied identifier to enter / exit dodge mode and alter the current course by the supplied value (degrees) direction.
 
-- `direction`: 'port' or 'starboard'
+- `value`: +/- value indicating the number of degrees 'port (-ive)' or 'starboard' to alter direction. _Setting the value to `null` indicates exit of dodge mode._
 - `deviceId:` identifier of the autopilot device to query.
 
 returns: `Promise<{void}>`
 
 throws on error.
 
-_Example:_ 
+
+To address different pilot behaviour, the `dodge` function can be used in the following ways:
+
+
+
+**1. Enter dodge mode at the current course**
 ```javascript
-POST signalk/v2/api/vessels/self/steering/autopilots/mypilot1/dodge/starboard
+// API request
+POST /signalk/v2/api/vessels/self/autopilots/mypilot1/dodge
+
+// _AutopilotProvider method invocation
+dodge(0, 'mypilot1');
 ```
-_AutopilotProvider method invocation:_
+
+**2. Enter dodge mode and change course**
 ```javascript
-dodge('starboard', 'mypilot1');
+// API request
+PUT /signalk/v2/api/vessels/self/autopilots/mypilot1/dodge {"value": 5}
+
+// AutopilotProvider method invocation
+dodge(5, 'mypilot1');
 ```
 
+**3. Cancel dodge mode**
+```javascript
+// API request
+DELETE /signalk/v2/api/vessels/self/autopilots/mypilot1/dodge
+
+// AutopilotProvider method invocation
+dodge(null, 'mypilot1');
+```
+
+---
 
 ### Unhandled Operations
 
diff --git a/docs/src/develop/rest-api/autopilot_api.md b/docs/src/develop/rest-api/autopilot_api.md
index 35a5cfcba..656e35a1d 100644
--- a/docs/src/develop/rest-api/autopilot_api.md
+++ b/docs/src/develop/rest-api/autopilot_api.md
@@ -3,15 +3,26 @@
 
 ## Overview
 
-The Autopilot API defines the `autopilots` path under the `steering` schema group _(e.g. `/signalk/v2/api/vessels/self/steering/autopilots`)_ for representing information from one or more autopilot devices.
+The Autopilot API defines the `autopilots` path under `self` _(e.g. `/signalk/v2/api/vessels/self/autopilots`)_ for representing information from one or more autopilot devices.
 
 The Autopilot API provides a mechanism for applications to issue requests to autopilot devices to perform common operations. Additionally, when multiple autopilot devices are present, each autopilot device is individually addressable.
 
  _Note: Autopilot provider plugins are required to enable the API operation and provide communication with autopilot devices. See [Autopilot Provider Plugins](../plugins/autopilot_provider_plugins.md) for details._
 
+
+## Common Operations
+
+The following operations are supported:
+- Setting the operating mode
+- Engaging / Disengaging the pilot
+- Setting / adjusting the course
+- Dodging port / starboard
+- Tacking / Gybing
+
+
 ## The _Default_ Autopilot
 
-To ensure a consistent API calling profile and to simplify client operations, the Autopilot API will assign a _default_ autopilot device which is accessible using the path `./steering/autopilots/_default`.
+To ensure a consistent API calling profile and to simplify client operations, the Autopilot API will assign a _default_ autopilot device which is accessible using the path `/signalk/v2/api/vessels/self/autopilots/_default`.
 
 - When only one autopilot is present, it will be automatically assigned as the _default_.
 
@@ -23,11 +34,11 @@ To ensure a consistent API calling profile and to simplify client operations, th
 
 ### Getting the Default Autopilot Identifier
 
-To get the id of the _default_ autopilot, submit an HTTP `GET` request to `/signalk/v2/api/vessels/self/steering/autopilots/_providers/_default`.
+To get the id of the _default_ autopilot, submit an HTTP `GET` request to `/signalk/v2/api/vessels/self/autopilots/_providers/_default`.
 
 _Example:_
 ```typescript
-HTTP GET "/signalk/v2/api/vessels/self/steering/autopilots/_providers/_default"
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/_providers/_default"
 ```
 
 _Response:_
@@ -39,24 +50,24 @@ _Response:_
 
 ### Setting an Autopilot as the Default
 
-To set / change the _default_ autopilot, submit an HTTP `POST` request to `/signalk/v2/api/vessels/self/steering/autopilots/_providers/_default/{id}` where `{id}` is the identifier of the autopilot to use as the _default_.
+To set / change the _default_ autopilot, submit an HTTP `POST` request to `/signalk/v2/api/vessels/self/autopilots/_providers/_default/{id}` where `{id}` is the identifier of the autopilot to use as the _default_.
 
 _Example:_
 ```typescript
-HTTP POST "/signalk/v2/api/vessels/self/steering/autopilots/_providers/_default/raymarine-id"
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/_providers/_default/raymarine-id"
 ```
 
-The autopilot with the supplied id will now be the target of requests made to `./steering/autopilots/_default/*`.
+The autopilot with the supplied id will now be the target of requests made to `/signalk/v2/api/vessels/self/autopilots/_default/*`.
 
 
 ## Listing the available Autopilots
 
-To retrieve a list of installed autopilot devices, submit an HTTP `GET` request to `/signalk/v2/api/vessels/self/steering/autopilots`.
+To retrieve a list of installed autopilot devices, submit an HTTP `GET` request to `/signalk/v2/api/vessels/self/autopilots`.
 
 The response will be an object containing all the registered autopilot devices, keyed by their identifier, detailing the `provider` it is registered by and whether it is assigned as the _default_.
 
 ```typescript
-HTTP GET "/signalk/v2/api/vessels/self/steering/autopilots"
+HTTP GET "/signalk/v2/api/vessels/self/autopilots"
 ```
 _Example: List of registered autopilots showing that `pypilot-id` is assigned as the default._
 
@@ -146,29 +157,29 @@ If an autopilot device is not connected or unreachable, the provider for that au
 ## Autopilot Operations
 
 All API operations are invoked by issuing requests to:
-1. `/signalk/v2/api/vessels/self/steering/autopilots/_default/*`
+1. `/signalk/v2/api/vessels/self/autopilots/_default/*`
 
 Targets the default autopilot device.
 
 OR
 
-2. `/signalk/v2/api/vessels/self/steering/autopilots/{id}/*`
+2. `/signalk/v2/api/vessels/self/autopilots/{id}/*`
 
 Target the autopilot with the supplied `{id}`
 
 _Example:_
 ```typescript
-HTTP GET "/signalk/v2/api/vessels/self/steering/autopilots/_default/state"
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/_default/state"
 
-HTTP GET "/signalk/v2/api/vessels/self/steering/autopilots/pypilot-id/mode"
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/pypilot-id/mode"
 ```
 
 ### Retrieving Autopilot Status
 
-To retrieve the current autopilot configuration as well as a list of available options for `state` and `mode` selections, submit an HTTP `GET` request to `/signalk/v2/api/vessels/self/steering/autopilots/{id}`.
+To retrieve the current autopilot configuration as well as a list of available options for `state` and `mode` selections, submit an HTTP `GET` request to `/signalk/v2/api/vessels/self/autopilots/{id}`.
 
 ```typescript
-HTTP GET "/signalk/v2/api/vessels/self/steering/autopilots/{id}"
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}"
 ```
 _Response:_
 
@@ -195,18 +206,18 @@ Where:
 
 ### Setting the Autopilot State
 
-Autopilot state can be set by submitting an HTTP `PUT` request to the `state` endpoint containing a value from the list of available states.
+Autopilot state can be set by submitting an HTTP `PUT` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/state` endpoint containing a value from the list of available states.
 
 ```typescript
-HTTP PUT "/signalk/v2/api/vessels/self/steering/autopilots/{id}/state" {"value": "disabled"}
+HTTP PUT "/signalk/v2/api/vessels/self/autopilots/{id}/state" {"value": "disabled"}
 ```
 
 ### Getting the Autopilot State
 
-The current autopilot state can be retrieved by submitting an HTTP `GET` request to the `state` endpoint.
+The current autopilot state can be retrieved by submitting an HTTP `GET` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/state` endpoint.
 
 ```typescript
-HTTP GET "/signalk/v2/api/vessels/self/steering/autopilots/{id}/state"
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}/state"
 ```
 
 _Response:_
@@ -219,10 +230,10 @@ _Response:_
 
 ### Setting the Autopilot Mode
 
-Autopilot mode can be set by submitting an HTTP `PUT` request to the `mode` endpoint containing a value from the list of available modes.
+Autopilot mode can be set by submitting an HTTP `PUT` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/mode` endpoint containing a value from the list of available modes.
 
 ```typescript
-HTTP PUT "/signalk/v2/api/vessels/self/steering/autopilots/{id}/mode" {"value": "gps"}
+HTTP PUT "/signalk/v2/api/vessels/self/autopilots/{id}/mode" {"value": "gps"}
 ```
 
 ### Getting the Autopilot Mode
@@ -230,7 +241,7 @@ HTTP PUT "/signalk/v2/api/vessels/self/steering/autopilots/{id}/mode" {"value":
 The current autopilot mode can be retrieved by submitting an HTTP `GET` request to the `mode` endpoint.
 
 ```typescript
-HTTP GET "/signalk/v2/api/vessels/self/steering/autopilots/{id}/mode"
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}/mode"
 ```
 
 _Response:_
@@ -243,26 +254,26 @@ _Response:_
 
 ### Setting the Target value
 
-Autopilot target value can be set by submitting an HTTP `PUT` request to the `target` endpoint containing the desired value in radians.
+Autopilot target value can be set by submitting an HTTP `PUT` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/target` endpoint containing the desired value in degrees.
 
 _Note: The value supplied should be a number within the valid range for the selected `mode`._
 
 ```typescript
-HTTP PUT "signalk/v2/api/vessels/self/steering/autopilots/{id}/target" {"value": 1.1412}
+HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target" {"value": 129}
 ```
 
-The target value can be adjusted a +/- value by submitting an HTTP `PUT` request to the `target/adjust` endpoint with the value to add to the current `target` value in radians.
+The target value can be adjusted a +/- value by submitting an HTTP `PUT` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/target/adjust` endpoint with the value to add to the current `target` value in degrees.
 
 ```typescript
-HTTP PUT "signalk/v2/api/vessels/self/steering/autopilots/{id}/target/adjust" {"value": -0.1412}
+HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target/adjust" {"value": -2}
 ```
 
 ### Getting the current Target value
 
-The current autopilot target value _(in radians)_ can be retrieved by submitting an HTTP `GET` request to the `target` endpoint.
+The current autopilot target value _(in degrees)_ can be retrieved by submitting an HTTP `GET` request to the `target` endpoint.
 
 ```typescript
-HTTP GET "/signalk/v2/api/vessels/self/steering/autopilots/{id}/target"
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}/target"
 ```
 
 _Response:_
@@ -277,66 +288,76 @@ _Response:_
 
 #### Engaging the autopilot 
 
-An autopilot can be engaged by [setting it to a speciifc `state`](#setting-the-state) but it can also be engaged more generically by submitting an HTTP `POST` request to the `engage` endpoint.
+An autopilot can be engaged by [setting it to a speciifc `state`](#setting-the-state) but it can also be engaged more generically by submitting an HTTP `POST` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/engage` endpoint.
 
 ```typescript
-HTTP POST "/signalk/v2/api/vessels/self/steering/autopilots/{id}/engage"
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/engage"
 ```
 
 _Note: The resultant `state` into which the autopilot is placed will be determined by the **provider plugin** and the autopilot device it is communicating with._
 
 #### Disengaging the autopilot 
 
-An autopilot can be disengaged by [setting it to a speciifc `state`](#setting-the-state) but it can also be disengaged more generically by submitting an HTTP `POST` request to the `disengage` endpoint.
+An autopilot can be disengaged by [setting it to a speciifc `state`](#setting-the-state) but it can also be disengaged more generically by submitting an HTTP `POST` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/disengage` endpoint.
 
 ```typescript
-HTTP POST "/signalk/v2/api/vessels/self/steering/autopilots/{id}/disengage"
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/disengage"
 ```
 
 _Note: The resultant `state` into which the autopilot is placed will be determined by the **provider plugin** and the autopilot device it is communicating with._
 
 ### Perform a Tack
 
-To send a command to the autopilot to perform a tack in the required direction, submit an HTTP `POST` request to `/tack/{direction}` where _direction_ is either `port` or `starboard`.
+To send a command to the autopilot to perform a tack in the required direction, submit an HTTP `POST` request to `./autopilots/{id}/tack/{direction}` where _direction_ is either `port` or `starboard`.
 
 _Example: Tack to Port_
 ```typescript
-HTTP POST "/signalk/v2/api/vessels/self/steering/autopilots/{id}/tack/port"
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/tack/port"
 ```
 
 _Example: Tack to Starboard_
 ```typescript
-HTTP POST "/signalk/v2/api/vessels/self/steering/autopilots/{id}/tack/starboard"
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/tack/starboard"
 ```
 
 
 ### Perform a Gybe
 
-To send a command to the autopilot to perform a gybe in the required direction, submit an HTTP `POST` request to `/gybe/{direction}` where _direction_ is either `port` or `starboard`.
+To send a command to the autopilot to perform a gybe in the required direction, submit an HTTP `POST` request to `/signalk/v2/api/vessels/self/autopilots/{id}/gybe/{direction}` where _direction_ is either `port` or `starboard`.
 
 _Example: Gybe to Port_
 ```typescript
-HTTP POST "/signalk/v2/api/vessels/self/steering/autopilots/{id}/gybe/port"
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/gybe/port"
 ```
 
 _Example: Gybe to Starboard_
 ```typescript
-HTTP POST "/signalk/v2/api/vessels/self/steering/autopilots/{id}/gybe/starboard"
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/gybe/starboard"
 ```
 
 
 
-### Dodging / overriding
+### Dodging Obstacles
 
-To send a command to the autopilot to manually override the rudder position two (2) degrees in the requested direction in order to avoid an obstacle, 
-submit an HTTP `POST` request to `/dodge/{direction}` where _direction_ is either `port` or `starboard`.
+To address the various methods that the `dodge` function could be invoked on pilot devices, the API provides the following endpoints to provide the widest coverage possible:
 
-_Example: Dodge to Port_
-```typescript
-HTTP POST "/signalk/v2/api/vessels/self/steering/autopilots/{id}/dodge/port"
+
+**To enter dodge mode at the current course**
+```javascript
+POST /signalk/v2/api/vessels/self/autopilots/{id}/dodge
 ```
 
-_Example: Gybe to Starboard_
-```typescript
-HTTP POST "/signalk/v2/api/vessels/self/steering/autopilots/{id}/dodge/starboard"
+**To enter dodge mode and change course by 5 degrees starboard**
+```javascript
+PUT /signalk/v2/api/vessels/self/autopilots/{id}/dodge {"value": 5}
+```
+
+**To enter dodge mode and change course by 5 degrees port**
+```javascript
+PUT /signalk/v2/api/vessels/self/autopilots/{id}/dodge {"value": -5}
+```
+
+**To cancel dodge mode**
+```javascript
+DELETE /signalk/v2/api/vessels/self/autopilots/{id}/dodge
 ```
\ No newline at end of file
diff --git a/docs/src/develop/rest-api/open_api.md b/docs/src/develop/rest-api/open_api.md
index 82f5c6f02..661cf6425 100644
--- a/docs/src/develop/rest-api/open_api.md
+++ b/docs/src/develop/rest-api/open_api.md
@@ -13,6 +13,7 @@ APIs are available via `/signalk/v2/api/<endpoint>`
 |---        |---            |---          |
 | [Course](./course_api.md)  | Set a course, follow a route, advance to next point, etc.  | `vessels/self/navigation/course` |
 | [Resources](./resources_api.md) | Create, view, update and delete waypoints, routes, etc. | `resources` |
+| [`Autopilot`](./autopilot_api.md)  | Provide the ability to send common commands to an autopilot via a provider plugin. | `vessels/self/autopilot` |
 
 ---
 
@@ -23,7 +24,6 @@ APIs are available via `/signalk/v2/api/<endpoint>`
 | Proposed API       | Description | Endpoint    | 
 |---        |---            |---          |
 | _[`Notifications`](notifications_api.md)_ | Provide the ability to raise, update and clear notifications from multiple sources. _[View PR](https://github.com/SignalK/signalk-server/pull/1560)_| `notifications` |
-| _[`Autopilot`](./autopilot_api.md)_  | Provide the ability to send common commands to an autopilot via a provider plugin. _[View PR](https://github.com/SignalK/signalk-server/pull/1596)_ | `vessels/self/steering/autopilot` |
 | _[`Anchor`](./anchor_api.md)_  | Provide endpoints to perform operations and facilitate an anchor alarm. | `vessels/self/navigation/anchor` |
 
 ---
diff --git a/packages/server-api/src/autopilotapi.ts b/packages/server-api/src/autopilotapi.ts
index cf8c28d8a..cf3823c40 100644
--- a/packages/server-api/src/autopilotapi.ts
+++ b/packages/server-api/src/autopilotapi.ts
@@ -1,4 +1,4 @@
-import { Notification, Value } from './deltas'
+import { Value } from './deltas'
 
 export type AutopilotUpdateAttrib =
   | 'mode'
@@ -48,14 +48,7 @@ export interface AutopilotApi {
   apUpdate(
     pluginId: string,
     deviceId: string,
-    attrib: AutopilotUpdateAttrib,
-    value: Value
-  ): void
-  apAlarm(
-    pluginId: string,
-    deviceId: string,
-    alarmName: AutopilotAlarm,
-    value: Notification
+    apInfo: {[path:string]: Value}
   ): void
 }
 
@@ -63,7 +56,7 @@ export interface AutopilotApi {
 export interface AutopilotProvider {
   getData(deviceId: string): Promise<AutopilotInfo>
   getState(deviceId: string): Promise<string>
-  setState(state: string, deviceId: string): Promise<boolean>
+  setState(state: string, deviceId: string): Promise<void>
   getMode(deviceId: string): Promise<string>
   setMode(mode: string, deviceId: string): Promise<void>
   getTarget(deviceId: string): Promise<number>
@@ -73,7 +66,7 @@ export interface AutopilotProvider {
   disengage(deviceId: string): Promise<void>
   tack(direction: TackGybeDirection, deviceId: string): Promise<void>
   gybe(direction: TackGybeDirection, deviceId: string): Promise<void>
-  dodge(direction: TackGybeDirection, deviceId: string): Promise<void>
+  dodge(value: number | null, deviceId: string): Promise<void>
 }
 
 export interface AutopilotStateDef {
@@ -101,12 +94,6 @@ export interface AutopilotProviderRegistry {
   ): void
   autopilotUpdate(
     deviceId: string,
-    attrib: AutopilotUpdateAttrib,
-    value: Value
-  ): void
-  autopilotAlarm(
-    deviceId: string,
-    alarmName: AutopilotAlarm,
-    value: Notification
+    apInfo: {[path:string]: Value}
   ): void
 }
diff --git a/src/api/autopilot/index.ts b/src/api/autopilot/index.ts
index ba4114dfe..24aa5d472 100644
--- a/src/api/autopilot/index.ts
+++ b/src/api/autopilot/index.ts
@@ -14,16 +14,15 @@ import {
   SKVersion,
   Path,
   Value,
-  Notification,
   Delta,
   isAutopilotProvider,
-  AutopilotUpdateAttrib,
   isAutopilotUpdateAttrib,
-  AutopilotAlarm,
-  isAutopilotAlarm
+  isAutopilotAlarm,
+  PathValue,
+  SourceRef
 } from '@signalk/server-api'
 
-const AUTOPILOT_API_PATH = `/signalk/v2/api/vessels/self/steering/autopilots`
+const AUTOPILOT_API_PATH = `/signalk/v2/api/vessels/self/autopilots`
 const DEFAULTIDPATH = '_default'
 
 interface AutopilotApplication
@@ -35,6 +34,10 @@ interface AutopilotList {
   [id: string]: { provider: string; isDefault: boolean }
 }
 
+interface AutopilotApiSettings {
+  maxTurn: number // maximum course adjust / steer angle value (degrees)
+}
+
 export class AutopilotApi {
   private autopilotProviders: Map<string, AutopilotProvider> = new Map()
 
@@ -42,6 +45,10 @@ export class AutopilotApi {
   private defaultDeviceId?: string
   private deviceToProvider: Map<string, string> = new Map()
 
+  private settings: AutopilotApiSettings = {
+    maxTurn: 20
+  }
+
   constructor(private server: AutopilotApplication) {}
 
   async start() {
@@ -53,7 +60,7 @@ export class AutopilotApi {
 
   // Register plugin as provider.
   register(pluginId: string, provider: AutopilotProvider, devices: string[]) {
-    debug(`** Registering provider(s)....${pluginId} ${provider}`)
+    debug(`** Registering provider(s)....${pluginId}`)
 
     if (!provider) {
       throw new Error(`Error registering provider ${pluginId}!`)
@@ -109,7 +116,16 @@ export class AutopilotApi {
       debug(`** Resetting defaults .....`)
       this.defaultDeviceId = undefined
       this.defaultProviderId = undefined
-      this.emitDeltaMsg('defaultPilot', this.defaultDeviceId, 'autopilotApi')
+      this.initDefaults()
+      /*this.emitUpdates(
+        [
+          this.buildPathValue(
+            'defaultPilot' as Path,
+            this.defaultDeviceId ?? null
+          )
+        ],
+        'autopilotApi' as SourceRef
+      )*/
     }
 
     debug(
@@ -120,54 +136,49 @@ export class AutopilotApi {
     )
   }
 
-  // Pass changed attribute / value from autopilot.
+  /** Emit updates from autopilot device as `steering.autopilot.*` deltas.
+   *  This should be used by provider plugins to:
+   *   - Ensure API state is consistant
+   *   - trigger the sending of deltas.
+   */
   apUpdate(
     pluginId: string,
-    deviceId: string = pluginId + '.default',
-    attrib: AutopilotUpdateAttrib,
-    value: Value
+    deviceId: SourceRef = pluginId as SourceRef,
+    apInfo: { [path: string]: Value }
   ) {
-    if (deviceId && !this.deviceToProvider.has(deviceId)) {
-      this.deviceToProvider.set(deviceId, pluginId)
-    }
-    if (isAutopilotUpdateAttrib(attrib)) {
-      try {
-        if (!this.defaultDeviceId) {
-          this.initDefaults(deviceId)
-        }
-        this.emitDeltaMsg(attrib, value, deviceId)
-      } catch (err) {
-        debug(`ERROR apUpdate(): ${pluginId}->${deviceId}`, err)
+    try {
+      if (deviceId && !this.deviceToProvider.has(deviceId)) {
+        this.deviceToProvider.set(deviceId, pluginId)
       }
-    } else {
-      debug(
-        `ERROR apUpdate(): ${pluginId}->${deviceId}`,
-        `${attrib} is NOT an AutopilotUpdateAttrib!`
-      )
+      if (!this.defaultDeviceId) {
+        this.initDefaults(deviceId)
+      }
+    } catch (err) {
+      debug(`ERROR apUpdate(): ${pluginId}->${deviceId}`, err)
+      return
     }
-  }
 
-  // Pass alarm / notification from autopilot.
-  apAlarm(
-    pluginId: string,
-    deviceId: string = pluginId + '.default',
-    alarmName: AutopilotAlarm,
-    value: Notification
-  ) {
-    if (isAutopilotAlarm(alarmName)) {
-      debug(`Alarm -> ${deviceId}:`, value)
-      this.server.handleMessage(deviceId, {
-        updates: [
-          {
-            values: [
-              {
-                path: `notifications.steering.autopilot.${alarmName}` as Path,
-                value: value
-              }
-            ]
+    const values: any[] = []
+    Object.keys(apInfo).forEach((attrib: string) => {
+      if (isAutopilotUpdateAttrib(attrib) && attrib !== 'options') {
+        if (attrib === 'alarm') {
+          const alarm: PathValue = apInfo[attrib] as PathValue
+          if (isAutopilotAlarm(alarm.path)) {
+            values.push({
+              path: `notifications.steering.autopilot.${alarm.path}` as Path,
+              value: alarm.value
+            })
           }
-        ]
-      })
+        } else {
+          values.push({
+            path: `steering.autopilot.${attrib}`,
+            value: apInfo[attrib]
+          })
+        }
+      }
+    })
+    if (values.length !== 0) {
+      this.emitUpdates(values, deviceId)
     }
   }
 
@@ -178,7 +189,7 @@ export class AutopilotApi {
       request,
       'vessels.self',
       null,
-      'steering.autopilot'
+      'autopilot'
     )
   }
 
@@ -345,16 +356,15 @@ export class AutopilotApi {
         }
         this.useProvider(req)
           .setState(req.body.value, req.params.id)
-          .then((r: boolean) => {
-            debug('engaged =', r)
-            this.emitDeltaMsg('engaged', r, req.params.id)
-            if (req.params.id === this.defaultDeviceId) {
-              this.emitDeltaMsg('engaged', r, DEFAULTIDPATH)
-            }
+          .then(() => {
             res.status(Responses.ok.statusCode).json(Responses.ok)
           })
-          .catch(() => {
-            res.status(Responses.invalid.statusCode).json(Responses.invalid)
+          .catch((err) => {
+            res.status(err.statusCode ?? 500).json({
+              state: err.state ?? 'FAILED',
+              statusCode: err.statusCode ?? 500,
+              message: err.message ?? 'No autopilots available!'
+            })
           })
       }
     )
@@ -391,8 +401,12 @@ export class AutopilotApi {
           .then(() => {
             res.status(Responses.ok.statusCode).json(Responses.ok)
           })
-          .catch(() => {
-            res.status(Responses.invalid.statusCode).json(Responses.invalid)
+          .catch((err) => {
+            res.status(err.statusCode ?? 500).json({
+              state: err.state ?? 'FAILED',
+              statusCode: err.statusCode ?? 500,
+              message: err.message ?? 'No autopilots available!'
+            })
           })
       }
     )
@@ -424,21 +438,22 @@ export class AutopilotApi {
           res.status(Responses.invalid.statusCode).json(Responses.invalid)
           return
         }
-        if (req.body.value < 0 - Math.PI || req.body.value > 2 * Math.PI) {
-          res.status(400).json({
-            state: 'FAILED',
-            statusCode: 400,
-            message: `Error: Value supplied is outside of the valid range (-PI < value < 2*PI radians).`
-          })
-          return
-        }
+        const v =
+          req.body.value < -180
+            ? Math.max(...[-180, req.body.value])
+            : Math.min(...[360, req.body.value])
+
         this.useProvider(req)
-          .setTarget(req.body.value, req.params.id)
+          .setTarget(v, req.params.id)
           .then(() => {
             res.status(Responses.ok.statusCode).json(Responses.ok)
           })
-          .catch(() => {
-            res.status(Responses.invalid.statusCode).json(Responses.invalid)
+          .catch((err) => {
+            res.status(err.statusCode ?? 500).json({
+              state: err.state ?? 'FAILED',
+              statusCode: err.statusCode ?? 500,
+              message: err.message ?? 'No autopilots available!'
+            })
           })
       }
     )
@@ -451,13 +466,23 @@ export class AutopilotApi {
           res.status(Responses.invalid.statusCode).json(Responses.invalid)
           return
         }
+
+        const v =
+          req.body.value < 0
+            ? Math.max(...[0 - this.settings.maxTurn, req.body.value])
+            : Math.min(...[this.settings.maxTurn, req.body.value])
+
         this.useProvider(req)
-          .adjustTarget(req.body.value, req.params.id)
+          .adjustTarget(v, req.params.id)
           .then(() => {
             res.status(Responses.ok.statusCode).json(Responses.ok)
           })
-          .catch(() => {
-            res.status(Responses.invalid.statusCode).json(Responses.invalid)
+          .catch((err) => {
+            res.status(err.statusCode ?? 500).json({
+              state: err.state ?? 'FAILED',
+              statusCode: err.statusCode ?? 500,
+              message: err.message ?? 'No autopilots available!'
+            })
           })
       }
     )
@@ -538,12 +563,12 @@ export class AutopilotApi {
       }
     )
 
-    // dodge to port
+    // dodge mode ON
     this.server.post(
-      `${AUTOPILOT_API_PATH}/:id/dodge/port`,
+      `${AUTOPILOT_API_PATH}/:id/dodge`,
       (req: Request, res: Response) => {
         this.useProvider(req)
-          .dodge('port', req.params.id)
+          .dodge(0, req.params.id)
           .then(() => {
             res.status(Responses.ok.statusCode).json(Responses.ok)
           })
@@ -557,12 +582,41 @@ export class AutopilotApi {
       }
     )
 
-    // dodge to starboard
-    this.server.post(
-      `${AUTOPILOT_API_PATH}/:id/dodge/starboard`,
+    // dodge mode OFF
+    this.server.delete(
+      `${AUTOPILOT_API_PATH}/:id/dodge`,
+      (req: Request, res: Response) => {
+        this.useProvider(req)
+          .dodge(null, req.params.id)
+          .then(() => {
+            res.status(Responses.ok.statusCode).json(Responses.ok)
+          })
+          .catch((err) => {
+            res.status(err.statusCode ?? 500).json({
+              state: err.state ?? 'FAILED',
+              statusCode: err.statusCode ?? 500,
+              message: err.message ?? 'No autopilots available!'
+            })
+          })
+      }
+    )
+
+    /** dodge port (-ive) / starboard (+ive) degrees */
+    this.server.put(
+      `${AUTOPILOT_API_PATH}/:id/dodge`,
       (req: Request, res: Response) => {
+        if (typeof req.body.value !== 'number') {
+          res.status(Responses.invalid.statusCode).json(Responses.invalid)
+          return
+        }
+
+        const v =
+          req.body.value < 0
+            ? Math.max(...[0 - this.settings.maxTurn, req.body.value])
+            : Math.min(...[this.settings.maxTurn, req.body.value])
+
         this.useProvider(req)
-          .dodge('starboard', req.params.id)
+          .dodge(v, req.params.id)
           .then(() => {
             res.status(Responses.ok.statusCode).json(Responses.ok)
           })
@@ -650,41 +704,45 @@ export class AutopilotApi {
       this.defaultProviderId = this.deviceToProvider.get(
         this.defaultDeviceId
       ) as string
-      this.emitDeltaMsg('defaultPilot', this.defaultDeviceId, 'autopilotApi')
-      debug(`Default Device = ${this.defaultDeviceId}`)
-      debug(`Default Provider = ${this.defaultProviderId}`)
-      return
     }
-
     // else set to first AP device registered
-    if (this.deviceToProvider.size !== 0) {
+    else if (this.deviceToProvider.size !== 0) {
       const k = this.deviceToProvider.keys()
       this.defaultDeviceId = k.next().value as string
       this.defaultProviderId = this.deviceToProvider.get(
         this.defaultDeviceId
       ) as string
-      this.emitDeltaMsg('defaultPilot', this.defaultDeviceId, 'autopilotApi')
-      debug(`Default Device = ${this.defaultDeviceId}`)
-      debug(`Default Provider = ${this.defaultProviderId}`)
-      return
     } else {
-      throw new Error(
-        'Cannot set defaultDevice....No autopilot devices registered!'
-      )
+      this.defaultDeviceId = undefined
+      this.defaultProviderId = undefined
+    }
+    this.emitUpdates(
+      [
+        this.buildPathValue(
+          'defaultPilot' as Path,
+          this.defaultDeviceId ?? null
+        )
+      ],
+      'autopilotApi' as SourceRef
+    )
+    debug(`Default Device = ${this.defaultDeviceId}`)
+    debug(`Default Provider = ${this.defaultProviderId}`)
+  }
+
+  // build autopilot delta PathValue
+  private buildPathValue(path: Path, value: Value): PathValue {
+    return {
+      path: `steering.autopilot${path ? '.' + path : ''}` as Path,
+      value: value
     }
   }
 
   // emit delta updates on operation success
-  private emitDeltaMsg(path: string, value: any, source: string) {
+  private emitUpdates(values: PathValue[], source: SourceRef) {
     const msg: Delta = {
       updates: [
         {
-          values: [
-            {
-              path: `steering.autopilot${path ? '.' + path : ''}` as Path,
-              value: value
-            }
-          ]
+          values: values
         }
       ]
     }
diff --git a/src/api/autopilot/openApi.json b/src/api/autopilot/openApi.json
index d871c7d88..01925f337 100644
--- a/src/api/autopilot/openApi.json
+++ b/src/api/autopilot/openApi.json
@@ -15,7 +15,7 @@
   },
   "servers": [
     {
-      "url": "/signalk/v2/api/vessels/self/steering/autopilots"
+      "url": "/signalk/v2/api/vessels/self/autopilots"
     }
   ],
   "tags": [
@@ -268,9 +268,9 @@
                       "example": "compass"
                     },
                     "target": {
-                      "description": "Current target value (radians)",
+                      "description": "Current target value (degrees)",
                       "type": "number",
-                      "example": 1.25643
+                      "example": 75.2
                     },
                     "options": {
                       "$ref": "#/components/schemas/autopilotOptions"
@@ -492,8 +492,8 @@
       ],
       "get": {
         "tags": ["autopilot"],
-        "summary": "Retrieve the current target value (radians).",
-        "description": "Value in radians of the current target value.",
+        "summary": "Retrieve the current target value (degrees).",
+        "description": "Value in degrees of the current target value.",
         "responses": {
           "default": {
             "description": "Autopilot value response",
@@ -505,10 +505,8 @@
                   "properties": {
                     "value": {
                       "type": "number",
-                      "description": "Value in radians",
-                      "min": -3.141592653589793,
-                      "max": 6.283185307179586,
-                      "example": -1.23789
+                      "description": "Value in degrees",
+                      "example": 129
                     }
                   }
                 }
@@ -522,10 +520,10 @@
       },
       "put": {
         "tags": ["autopilot"],
-        "summary": "Set autopilot `target` value (radians).",
-        "description": "Value supplied must be in the valid range between -PI & 2*PI.",
+        "summary": "Set autopilot `target` value (degrees).",
+        "description": "Value supplied must be in the valid range between -180 & 360.",
         "requestBody": {
-          "description": "Value in radians within the bounds of the current autopilot mode. (i.e. compass: 0 to 2*Pi, wind angle: -Pi to Pi)",
+          "description": "Value in degrees within the bounds of the current autopilot mode. (i.e. compass: 0 to 360, wind angle: -180 to 180)",
           "required": true,
           "content": {
             "application/json": {
@@ -534,10 +532,10 @@
                 "properties": {
                   "value": {
                     "type": "number",
-                    "description": "Value in radians",
-                    "min": -3.141592653589793,
-                    "max": 6.283185307179586,
-                    "example": -1.23789
+                    "description": "Value in degrees",
+                    "min": -180,
+                    "max": 360,
+                    "example": 129
                   }
                 }
               }
@@ -562,10 +560,10 @@
       ],
       "put": {
         "tags": ["autopilot"],
-        "summary": "Adjust autopilot target value by +/- radians.",
+        "summary": "Adjust autopilot target value by +/- degrees.",
         "description": "Value supplied will be added to the current target value. The result must be in the valid range between -PI & 2*PI.",
         "requestBody": {
-          "description": "A value in radians to add to the current `target` value.",
+          "description": "A value in degrees to add to the current `target` value.",
           "required": true,
           "content": {
             "application/json": {
@@ -574,10 +572,8 @@
                 "properties": {
                   "value": {
                     "type": "number",
-                    "description": "Value in radians.",
-                    "min": -0.1745,
-                    "max": 0.1745,
-                    "example": -0.23789
+                    "description": "Value in degrees (-ive = port).",
+                    "example": -2
                   }
                 }
               }
@@ -674,7 +670,7 @@
         }
       }
     },
-    "/{id}/dodge/port": {
+    "/{id}/dodge": {
       "parameters": [
         {
           "$ref": "#/components/parameters/AutopilotIdParam"
@@ -682,8 +678,8 @@
       ],
       "post": {
         "tags": ["autopilot"],
-        "summary": "Turn to port.",
-        "description": "Manual override turn to port.",
+        "summary": "Turn on dodge mode.",
+        "description": "Enter dodge mode at the current course setting.",
         "responses": {
           "200ActionResponse": {
             "$ref": "#/components/responses/200ActionResponse"
@@ -692,18 +688,42 @@
             "$ref": "#/components/responses/ErrorResponse"
           }
         }
-      }
-    },
-    "/{id}/dodge/starboard": {
-      "parameters": [
-        {
-          "$ref": "#/components/parameters/AutopilotIdParam"
+      },
+      "delete": {
+        "tags": ["autopilot"],
+        "summary": "Turn Off dodge mode.",
+        "description": "Resume steering original course.",
+        "responses": {
+          "200ActionResponse": {
+            "$ref": "#/components/responses/200ActionResponse"
+          },
+          "default": {
+            "$ref": "#/components/responses/ErrorResponse"
+          }
         }
-      ],
-      "post": {
+      },
+      "put": {
         "tags": ["autopilot"],
-        "summary": "Turn to starboard.",
-        "description": "Manual override turn to starboard.",
+        "summary": "Steer port / starboard to dodge obstacles.",
+        "description": "Override the current course to change direction the supplied number of degrees.",
+        "requestBody": {
+          "description": "+/- value in degrees to turn (-ive = port).",
+          "required": true,
+          "content": {
+            "application/json": {
+              "schema": {
+                "type": "object",
+                "properties": {
+                  "value": {
+                    "type": "number",
+                    "description": "Value in degrees.",
+                    "example": -2
+                  }
+                }
+              }
+            }
+          }
+        },
         "responses": {
           "200ActionResponse": {
             "$ref": "#/components/responses/200ActionResponse"
diff --git a/src/api/autopilot/openApi.ts b/src/api/autopilot/openApi.ts
index e8425c96d..be4532ad4 100644
--- a/src/api/autopilot/openApi.ts
+++ b/src/api/autopilot/openApi.ts
@@ -3,6 +3,6 @@ import autopilotApiDoc from './openApi.json'
 
 export const autopilotApiRecord = {
   name: 'autopilot',
-  path: '/signalk/v2/api/vessels/self/steering/autopilot',
+  path: '/signalk/v2/api/vessels/self/autopilot',
   apiDoc: autopilotApiDoc as unknown as OpenApiDescription
 }
diff --git a/src/api/index.ts b/src/api/index.ts
index c629ccb39..a68515464 100644
--- a/src/api/index.ts
+++ b/src/api/index.ts
@@ -36,6 +36,11 @@ export const Responses = {
     state: 'FAILED',
     statusCode: 404,
     message: 'Resource not found.'
+  },
+  notImplemented: {
+    state: 'FAILED',
+    statusCode: 500,
+    message: 'Not implemented.'
   }
 }
 
diff --git a/src/interfaces/plugins.ts b/src/interfaces/plugins.ts
index 7ea8f06e3..e15531505 100644
--- a/src/interfaces/plugins.ts
+++ b/src/interfaces/plugins.ts
@@ -24,11 +24,9 @@ import {
   AutopilotProvider,
   ServerAPI,
   RouteDestination,
-  AutopilotUpdateAttrib,
-  AutopilotAlarm,
   Value,
-  Notification,
-  SignalKApiId
+  SignalKApiId,
+  SourceRef
 } from '@signalk/server-api'
 // eslint-disable-next-line @typescript-eslint/ban-ts-comment
 // @ts-ignore
@@ -576,18 +574,10 @@ module.exports = (theApp: any) => {
       autopilotApi.register(plugin.id, provider, devices)
     }
     appCopy.autopilotUpdate = (
-      deviceId: string,
-      attrib: AutopilotUpdateAttrib,
-      value: Value
+      deviceId: SourceRef,
+      apInfo: { [k: string]: Value }
     ) => {
-      autopilotApi.apUpdate(plugin.id, deviceId, attrib, value)
-    }
-    appCopy.autopilotAlarm = (
-      deviceId: string,
-      alarmName: AutopilotAlarm,
-      value: Notification
-    ) => {
-      autopilotApi.apAlarm(plugin.id, deviceId, alarmName, value)
+      autopilotApi.apUpdate(plugin.id, deviceId, apInfo)
     }
 
     _.omit(appCopy, 'apiList') // don't expose the actual apiList