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We want to poll out RUT955 routers to read the analog input value as this monitors our battery voltage. I have looked at the documentation and some forum posts but can not find out how this can be done. Is this not possible? Are there any plans to integrate a feature like this in future firmware updates?

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If you cannot find information about it here: https://wiki.teltonika-networks.com/view/RUT955_Input/Output#Summary

Then it's not implemented.

Unfortunately, there are no plans for this feature yet.

But there's another option of API I could suggest you - JSON-RPC, with it you will be able to query this analog input value command: 

cat /sys/class/hwmon/hwmon0/device/in0_input

RUT955 Monitoring via JSON-RPC windows - Teltonika Networks Wiki

And other commands will work too, so you will not be affected by the small range of HTTP Post/GET possibilities.