read sensors got signal 15 cleaning up
waiting for threads
read_sensors_d finished
No pressure sensor detected
No humidity sensor detected
Settings file RTIMULib.ini loaded
Using fusion algorithm RTQF
read_sensors_d waiting for signal to exit 
launched pypilot pid 2839
loading servo calibration /home/pi/.pypilot/servocalibration
WARNING: using default servo calibration!!
failed to open special file /dev/watchdog0 for writing:
autopilot cannot strobe the watchdog
connected to gpsd
Settings file RTIMULib.ini loaded
Using settings file RTIMULib.ini
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Accel calibration not in use
autopilot failed to read imu at time: 1532547495.57
Traceback (most recent call last):
  File "/usr/local/bin/pypilot", line 11, in <module>
    load_entry_point('pypilot==0.1', 'console_scripts', 'pypilot')()
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/basic_autopilot.py", line 108, in main
    ap.run()
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/autopilot.py", line 178, in run
    self.iteration()
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/autopilot.py", line 317, in iteration
    self.servo.poll()
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/servo.py", line 427, in poll
    device_path = serialprobe.probe('servo', [38400], 1)
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/serialprobe.py", line 195, in probe
    devices = enumerate_devices()
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/serialprobe.py", line 105, in enumerate_devices
    devices = scan_devices()
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/serialprobe.py", line 89, in scan_devices
    if os.path.realpath(devices) in allowed_serial_ports:
  File "/usr/lib/python2.7/posixpath.py", line 375, in realpath
    path, ok = _joinrealpath('', filename, {})
  File "/usr/lib/python2.7/posixpath.py", line 381, in _joinrealpath
    if isabs(rest):
  File "/usr/lib/python2.7/posixpath.py", line 54, in isabs
    return s.startswith('/')
AttributeError: 'list' object has no attribute 'startswith'
got signal atexit cleaning up
got signal 15 cleaning up
got signal 15 cleaning up
got signal 15 cleaning up
Process GpsProcess-4:
got signal 15 cleaning up
Traceback (most recent call last):
Process NmeaBridgeProcess-5:
  File "/usr/lib/python2.7/multiprocessing/process.py", line 258, in _bootstrap
Traceback (most recent call last):
Process Process-2:
  File "/usr/lib/python2.7/multiprocessing/process.py", line 258, in _bootstrap
Process Process-1:
Traceback (most recent call last):
Traceback (most recent call last):
  File "/usr/lib/python2.7/multiprocessing/process.py", line 258, in _bootstrap
  File "/usr/lib/python2.7/multiprocessing/process.py", line 258, in _bootstrap
    self.run()
  File "/usr/lib/python2.7/multiprocessing/process.py", line 114, in run
    self._target(*self._args, **self._kwargs)
    self.run()
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/gpsdpoller.py", line 63, in gps_process
  File "/usr/lib/python2.7/multiprocessing/process.py", line 114, in run
    self._target(*self._args, **self._kwargs)
    self.run()
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/signalk/pipeserver.py", line 153, in pipe_server_process
  File "/usr/lib/python2.7/multiprocessing/process.py", line 114, in run
    self.read(pipe)
    self._target(*self._args, **self._kwargs)
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/gpsdpoller.py", line 37, in read
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/nmea.py", line 545, in process
    gpsdata = self.gpsd.next()
    self.run()
  File "/usr/lib/python2.7/dist-packages/gps/gps.py", line 326, in next
  File "/usr/lib/python2.7/multiprocessing/process.py", line 114, in run
    time.sleep(.1)
    self._target(*self._args, **self._kwargs)
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/autopilot.py", line 92, in cleanup
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/calibration_fit.py", line 450, in CalibrationProcess
    if self.read() == -1:
  File "/usr/lib/python2.7/dist-packages/gps/gps.py", line 312, in read
    status = gpscommon.read(self)
    raise KeyboardInterrupt # to get backtrace on all processes
  File "/usr/lib/python2.7/dist-packages/gps/client.py", line 84, in read
KeyboardInterrupt
    time.sleep(2)
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/autopilot.py", line 92, in cleanup
    frag = self.sock.recv(4096)
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/autopilot.py", line 92, in cleanup
    p = points.recv(1)
    raise KeyboardInterrupt # to get backtrace on all processes
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/signalk/pipeserver.py", line 35, in recv
    raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
KeyboardInterrupt
    if self.pollin.poll(1000.0*timeout):
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/autopilot.py", line 92, in cleanup
    raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
got signal 17 cleaning up
got signal 17 cleaning up
Error in atexit._run_exitfuncs:
Traceback (most recent call last):
  File "/usr/lib/python2.7/atexit.py", line 24, in _run_exitfuncs
    func(*targs, **kargs)
  File "/usr/lib/python2.7/multiprocessing/util.py", line 325, in _exit_function
    p.join()
  File "/usr/lib/python2.7/multiprocessing/process.py", line 145, in join
    res = self._popen.wait(timeout)
  File "/usr/lib/python2.7/multiprocessing/forking.py", line 154, in wait
    return self.poll(0)
  File "/usr/lib/python2.7/multiprocessing/forking.py", line 135, in poll
    pid, sts = os.waitpid(self.pid, flag)
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/autopilot.py", line 92, in cleanup
    raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
Error in sys.exitfunc:
Traceback (most recent call last):
  File "/usr/lib/python2.7/atexit.py", line 24, in _run_exitfuncs
    func(*targs, **kargs)
  File "/usr/lib/python2.7/multiprocessing/util.py", line 325, in _exit_function
    p.join()
  File "/usr/lib/python2.7/multiprocessing/process.py", line 145, in join
    res = self._popen.wait(timeout)
  File "/usr/lib/python2.7/multiprocessing/forking.py", line 154, in wait
    return self.poll(0)
  File "/usr/lib/python2.7/multiprocessing/forking.py", line 135, in poll
    pid, sts = os.waitpid(self.pid, flag)
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/autopilot.py", line 92, in cleanup
    raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
MPU-925x init complete
got signal 15 cleaning up
Process Process-3:
Traceback (most recent call last):
  File "/usr/lib/python2.7/multiprocessing/process.py", line 258, in _bootstrap
    self.run()
  File "/usr/lib/python2.7/multiprocessing/process.py", line 114, in run
    self._target(*self._args, **self._kwargs)
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/boatimu.py", line 71, in imu_process
    if not rtimu.IMUInit():
  File "/usr/local/lib/python2.7/dist-packages/pypilot-0.1-py2.7-linux-armv7l.egg/pypilot/autopilot.py", line 92, in cleanup
    raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
pypilot exited
stopping pypilot pid: 2839
exception stopping pypilot [Errno 3] No such process
pypilot thread exiting