Read throttle setpoint, actuator setpoints and Euler angle setpoints used in fixed-wing controllers?

I want to read the throtttle, actuator and Euler angle setpoints used in the fixed-wing position and attitude controller seen on the PX4 controller diagrams. I need these values to perform real-time stability and controllability analysiss of the UAV. How can I obtain these values? Would I use a MAVLink Mesaage?