Sep 22 12:13:25 raspberrypi systemd[1]: pypilot.service: Scheduled restart job, restart counter is at 218.
Sep 22 12:13:25 raspberrypi systemd[1]: Stopped pypilot.
Sep 22 12:13:25 raspberrypi systemd[1]: Started pypilot.
Sep 22 12:13:25 raspberrypi pypilot[6776]: autopilot start 1290.103702509
Sep 22 12:13:25 raspberrypi pypilot[6776]: world magnetic model not available
Sep 22 12:13:25 raspberrypi pypilot[6776]: ERROR loading wind.py cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)   cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)
Sep 22 12:13:25 raspberrypi pypilot[6776]: ERROR loading gps.py cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)   cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)
Sep 22 12:13:25 raspberrypi pypilot[6776]: Settings file not found. Using defaults and creating settings file
Sep 22 12:13:25 raspberrypi pypilot[6776]: Failed to open settings file for saveDetected ICM20948 at option address
Sep 22 12:13:25 raspberrypi pypilot[6776]: Failed to open settings file for saveUsing fusion algorithm Kalman STATE4
Sep 22 12:13:25 raspberrypi pypilot[6776]: min/max compass calibration not in use
Sep 22 12:13:25 raspberrypi pypilot[6776]: Using ellipsoid compass calibration
Sep 22 12:13:25 raspberrypi pypilot[6776]: Using accel calibration
Sep 22 12:13:25 raspberrypi pypilot[6776]: loading servo calibration /home/pi/.pypilot/servocalibration
Sep 22 12:13:25 raspberrypi pypilot[6776]: WARNING: using default servo calibration!!
Sep 22 12:13:25 raspberrypi pypilot[6776]: Available Pilots: ['absolute', 'basic']
Sep 22 12:13:25 raspberrypi pypilot[6776]: warning: failed to open special file /dev/watchdog0 for writing
Sep 22 12:13:25 raspberrypi pypilot[6776]:          cannot stroke the watchdog
Sep 22 12:13:26 raspberrypi pypilot[6776]: ICM-20948 init complete
Sep 22 12:13:27 raspberrypi pypilot[6776]: autopilot init complete 1290.270152371
Sep 22 12:13:27 raspberrypi pypilot[6776]: serialprobe removing gps device /dev/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_7_-_GPS_GNSS_Receiver-if00
Sep 22 12:13:27 raspberrypi pypilot[6776]: servo probe ('/dev/ttyAMA0', 38400) 1290.274183012
Sep 22 12:13:27 raspberrypi pypilot[6776]: nmea probe ('/dev/serial/by-id/usb-Prolific_Technology_Inc._USB-Serial_Controller-if00-port0', 38400)
Sep 22 12:13:27 raspberrypi pypilot[6776]: autopilot iteration running too slow 0.09046104200001537
Sep 22 12:13:27 raspberrypi pypilot[6776]: serialprobe success: /home/pi/.pypilot/nmea0device ('/dev/serial/by-id/usb-Prolific_Technology_Inc._USB-Serial_Controller-if00-port0', 38400)
Sep 22 12:13:27 raspberrypi pypilot[6776]: autopilot iteration running too slow 0.07486994299983962
Sep 22 12:13:27 raspberrypi pypilot[6776]: autopilot iteration running too slow 0.08079411100015932
Sep 22 12:13:27 raspberrypi pypilot[6776]: sensor found wind serial II/dev/serial/by-id/usb-Prolific_Technology_Inc._USB-Serial_Controller-if00-port0 Thu Sep 22 12:13:26 2022
Sep 22 12:13:27 raspberrypi pypilot[6776]: sensor found rudder serial II/dev/serial/by-id/usb-Prolific_Technology_Inc._USB-Serial_Controller-if00-port0 Thu Sep 22 12:13:26 2022
Sep 22 12:13:27 raspberrypi pypilot[6776]: sensor found water serial II/dev/serial/by-id/usb-Prolific_Technology_Inc._USB-Serial_Controller-if00-port0 Thu Sep 22 12:13:27 2022
Sep 22 12:13:27 raspberrypi pypilot[6776]: Traceback (most recent call last):
Sep 22 12:13:27 raspberrypi pypilot[6776]:   File "/usr/local/bin/pypilot", line 11, in <module>
Sep 22 12:13:27 raspberrypi pypilot[6776]:     load_entry_point('pypilot==0.35', 'console_scripts', 'pypilot')()
Sep 22 12:13:27 raspberrypi pypilot[6776]:   File "/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py", line 476, in main
Sep 22 12:13:27 raspberrypi pypilot[6776]:     ap.iteration()
Sep 22 12:13:27 raspberrypi pypilot[6776]:   File "/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py", line 446, in iteration
Sep 22 12:13:27 raspberrypi pypilot[6776]:     self.sensors.water.compute(self) # calculate leeway and currents
Sep 22 12:13:27 raspberrypi pypilot[6776]:   File "/usr/local/lib/python3.7/dist-packages/pypilot/sensors.py", line 227, in compute
Sep 22 12:13:27 raspberrypi pypilot[6776]:     self.leeway.set(K*heel/self.speed.value**2)
Sep 22 12:13:27 raspberrypi pypilot[6776]: ZeroDivisionError: float division by zero
Sep 22 12:13:27 raspberrypi pypilot[6776]: Error in atexit._run_exitfuncs:
Sep 22 12:13:27 raspberrypi pypilot[6776]: Traceback (most recent call last):
Sep 22 12:13:27 raspberrypi pypilot[6776]:   File "/usr/lib/python3.7/multiprocessing/popen_fork.py", line 28, in poll
Sep 22 12:13:27 raspberrypi pypilot[6776]:     pid, sts = os.waitpid(self.pid, flag)
Sep 22 12:13:27 raspberrypi pypilot[6776]:   File "/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py", line 203, in cleanup
Sep 22 12:13:27 raspberrypi pypilot[6776]:     raise KeyboardInterrupt # to get backtrace on all processes
Sep 22 12:13:27 raspberrypi pypilot[6776]: KeyboardInterrupt
Sep 22 12:13:27 raspberrypi pypilot[6776]: closing autopilot
Sep 22 12:13:27 raspberrypi systemd[1]: pypilot.service: Main process exited, code=exited, status=1/FAILURE
Sep 22 12:13:27 raspberrypi systemd[1]: pypilot.service: Failed with result 'exit-code'.
Sep 22 12:13:29 raspberrypi systemd[1]: pypilot.service: Service RestartSec=2s expired, scheduling restart.
Sep 22 12:13:29 raspberrypi systemd[1]: pypilot.service: Scheduled restart job, restart counter is at 219.
Sep 22 12:13:29 raspberrypi systemd[1]: Stopped pypilot.
Sep 22 12:13:29 raspberrypi systemd[1]: Started pypilot.
Sep 22 12:13:29 raspberrypi pypilot[6802]: autopilot start 1294.094849959
Sep 22 12:13:29 raspberrypi pypilot[6802]: world magnetic model not available
Sep 22 12:13:29 raspberrypi pypilot[6802]: ERROR loading wind.py cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)   cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)
Sep 22 12:13:29 raspberrypi pypilot[6802]: ERROR loading gps.py cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)   cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)
Sep 22 12:13:29 raspberrypi pypilot[6802]: loading servo calibration /home/pi/.pypilot/servocalibration
Sep 22 12:13:29 raspberrypi pypilot[6802]: WARNING: using default servo calibration!!
Sep 22 12:13:29 raspberrypi pypilot[6802]: Available Pilots: ['absolute', 'basic']
Sep 22 12:13:29 raspberrypi pypilot[6802]: warning: failed to open special file /dev/watchdog0 for writing
Sep 22 12:13:29 raspberrypi pypilot[6802]:          cannot stroke the watchdog
Sep 22 12:13:29 raspberrypi pypilot[6802]: Settings file not found. Using defaults and creating settings file
Sep 22 12:13:29 raspberrypi pypilot[6802]: Failed to open settings file for saveDetected ICM20948 at option address
Sep 22 12:13:29 raspberrypi pypilot[6802]: Failed to open settings file for saveUsing fusion algorithm Kalman STATE4