Azimuth of current planned path leg

Hi, I’m just starting to dive into Ardupilot and trying to find any MAVlink message that displays the azimuth from the previous waypoint to the current one. I’d also be interested in the difference between the rover’s current heading/yaw and the azimuth. I thought ber_error might be it, but it appears to be the error between the rover heading and the bearing from the rover’s current location to the next waypoint.

I looked though the list of Mavlink messages and didn’t see any that seemed to fit.