2022-12-22, 06:34 AM
More output from trying to debug this issue from SSH
pi@openplotter:~/openplotter-pypilot $ ps aux | grep pypilot
pi 134 5.0 1.5 22756 14420 ? Ss 05:00 1:33 /usr/bin/python3 /usr/local/bin/pypilot
pi 135 0.4 2.8 47396 27140 ? Ssl 05:00 0:07 /usr/bin/python3 /usr/local/bin/pypilot_web 8000
pi 204 1.8 3.9 67300 36996 ? S 05:00 0:33 /usr/bin/python3 /usr/local/bin/pypilot
pi 208 1.9 0.9 21088 9304 ? D 05:00 0:34 /usr/bin/python3 /usr/local/bin/pypilot
pi 218 0.0 0.9 21348 8568 ? S 05:00 0:00 /usr/bin/python3 /usr/local/bin/pypilot
pi 219 0.8 1.9 57496 18476 ? Sl 05:00 0:15 /usr/bin/python3 /usr/local/bin/pypilot
pi 220 0.2 1.0 21640 10208 ? S 05:00 0:04 /usr/bin/python3 /usr/local/bin/pypilot
pi 221 0.4 2.2 41632 21068 ? S 05:00 0:08 /usr/bin/python3 /usr/local/bin/pypilot
pi 222 0.9 1.3 87732 12872 ? Sl 05:00 0:16 /usr/bin/python3 /usr/local/bin/pypilot
pi 2254 0.0 0.0 7452 552 pts/0 S+ 05:30 0:00 grep --color=auto pypilot
pi@openplotter:~/openplotter-pypilot $ ^C
pi@openplotter:~/openplotter-pypilot $ pypilot
autopilot start 1908.907175076
world magnetic model not available
ERROR loading wind.py cannot import name 'HeadingOffset' from partially initialized module 'pypilot.autopilot' (most likely due to a circular import) (/usr/local/lib/python3.9/dist-packages/pypilot/autopilot.py) cannot import name 'HeadingOffset' from partially initialized module 'pypilot.autopilot' (most likely due to a circular import) (/usr/local/lib/python3.9/dist-packages/pypilot/autopilot.py)
imu process 2258
nmea process 2263
nmea server on port 20220: bind failed.
gps process 2265
loading servo calibration /home/pi/.pypilot/servocalibration
WARNING: using default servo calibration!!
made imu process realtime
Using settings file RTIMULib.ini
Settings file RTIMULib.ini loaded
Available Pilots: ['basic', 'absolute']
Detected MPU9250/MPU9255 at standard address
warning: failed to open special file /dev/watchdog0 for writing
cannot stroke the watchdog
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
pypilotServer process 2271
pypilot_server: bind failed; already running a server?
autopilot init complete 1909.529218116
serialprobe removing gps device /dev/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00
autopilot iteration running too slow 0.08062609700004941
autopilot iteration running too slow 0.10416113500014035
MPU-925x init complete
autopilot iteration running too slow 0.08566705799989904
read imu running too _slowly_ 0.06231535099982466 0.05
autopilot iteration running too slow 0.07953929199993581
read imu running too _slowly_ 0.047197312999969654 0.05
autopilot iteration running too slow 0.07240253300005861
read imu running too _slowly_ 0.05752741099990999 0.05
autopilot iteration running too slow 0.07573930699982157
gps filter process 2266
read imu running too _slowly_ 0.04681164599992371 0.05
autopilot iteration running too slow 0.07093131200008429
nmea server on port 20220: bind failed.
read imu running too _slowly_ 0.05663179999987733 0.05
autopilot iteration running too slow 0.07669736399998328
failed to read IMU! 1910.508612582
Detected MPU9250/MPU9255 at standard address
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09414317900018432
autopilot iteration running too slow 0.09262643200008824
I2C read error from 12, 16 - Failed to read compass fuse ROM
autopilot iteration running too slow 0.09308777899991583
ERROR: IMU Init Failed, no inertial data available 1910.509780428
imu process failed to keep time 0.3143623060000209 1910.508597062 1910.82277786 1910.822861557 1910.822956816
autopilot iteration running too slow 0.09307736300002034
autopilot iteration running too slow 0.09306939299995065
autopilot iteration running too slow 0.09316147799995633
autopilot iteration running too slow 0.09319122200008678
nmea server on port 20220: bind failed.
gpsd connected
autopilot iteration running too slow 0.09320116899993991
GPSD devices ['/dev/ttyACM0']
IMURead failed!
Detected MPU9250/MPU9255 at standard address
autopilot iteration running too slow 0.09436005699990346
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09207092800011196
autopilot iteration running too slow 0.09418526900003599
autopilot iteration running too slow 0.09213306199990257
MPU-925x init complete
imu process failed to keep time 0.473758068999814 1911.523605772 1911.997177385 1911.997265144 1911.997361133
autopilot iteration running too slow 0.0941790189999665
read imu running too _slowly_ 0.052199483999856966 0.05
autopilot iteration running too slow 0.07334310600003846
read imu running too _slowly_ 0.05207042300003195 0.05
autopilot iteration running too slow 0.07433710100008284
sensor found gps gpsd /dev/ttyACM0 Thu Dec 22 05:32:05 2022
nmea server on port 20220: bind failed.
read imu running too _slowly_ 0.05169725199993991 0.05
autopilot iteration running too slow 0.07388554600015595
pypilot_server: bind failed; already running a server?
read imu running too _slowly_ 0.05170928300003652 0.05
autopilot iteration running too slow 0.07308264099992812
failed to read IMU! 1912.598042784
Detected MPU9250/MPU9255 at standard address
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09345872500011865
autopilot iteration running too slow 0.09336679900002309
I2C read error from 12, 16 - Failed to read compass fuse ROM
autopilot iteration running too slow 0.09327404000009665
ERROR: IMU Init Failed, no inertial data available 1912.599156151
imu process failed to keep time 0.31396267200011607 1912.598026794 1912.911793063 1912.911887645 1912.911986706
autopilot iteration running too slow 0.09349346400017566
autopilot iteration running too slow 0.09329898800001502
autopilot iteration running too slow 0.09351300200000878
autopilot iteration running too slow 0.0938229969999611
nmea server on port 20220: bind failed.
autopilot iteration running too slow 0.09247150800001691
IMURead failed!
autopilot iteration running too slow 0.09444064300009813
Detected MPU9250/MPU9255 at standard address
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09299951999992118
autopilot iteration running too slow 0.0941132010000274
autopilot iteration running too slow 0.09298686500005715
MPU-925x init complete
imu process failed to keep time 0.47451140900011524 1913.612716294 1914.087009269 1914.087119059 1914.087224943
autopilot iteration running too slow 0.09404153499986023
autopilot iteration running too slow 0.050408895000146
read imu running too _slowly_ 0.05272000500008289 0.05
autopilot iteration running too slow 0.0731359850001354
nmea server on port 20220: bind failed.
read imu running too _slowly_ 0.05266458899995996 0.05
autopilot iteration running too slow 0.07507767399988552
read imu running too _slowly_ 0.05234084299991082 0.05
autopilot iteration running too slow 0.0726946909999242
server/client is running too _slowly_ 0.12773085599997103
autopilot iteration running too slow 0.1304317510000601
failed to read IMU! 1914.788104802
Detected MPU9250/MPU9255 at standard address
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09356056000001445
autopilot iteration running too slow 0.09479736299999786
I2C read error from 12, 16 - Failed to read compass fuse ROM
autopilot iteration running too slow 0.09375243199997385
ERROR: IMU Init Failed, no inertial data available 1914.789231191
imu process failed to keep time 0.314806924000095 1914.788089386 1915.102635689 1915.102775791 1915.102893706
autopilot iteration running too slow 0.0936354590000974
autopilot iteration running too slow 0.09442294899986337
nmea server on port 20220: bind failed.
signalk process 2264
autopilot iteration running too slow 0.09373920999996699
pypilot_server: bind failed; already running a server?
calibration loaded, starting 2257
signalkread token eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJkZXZpY2UiOiI2ZjkxNDlhNy0xMTAzLTRlNmQtODc1NC03ODcwMjRkNDM1NjQiLCJpYXQiOjE2NzE1MTQ5MjksImV4cCI6MTcwMzA3MjUyOX0.KeRv5Sl2Wn4Hl7NZPL1G1rrMdgc5mvaR9yIpMvrutYo
pi@openplotter:~/openplotter-pypilot $ ps aux | grep pypilot
pi 134 5.0 1.5 22756 14420 ? Ss 05:00 1:33 /usr/bin/python3 /usr/local/bin/pypilot
pi 135 0.4 2.8 47396 27140 ? Ssl 05:00 0:07 /usr/bin/python3 /usr/local/bin/pypilot_web 8000
pi 204 1.8 3.9 67300 36996 ? S 05:00 0:33 /usr/bin/python3 /usr/local/bin/pypilot
pi 208 1.9 0.9 21088 9304 ? D 05:00 0:34 /usr/bin/python3 /usr/local/bin/pypilot
pi 218 0.0 0.9 21348 8568 ? S 05:00 0:00 /usr/bin/python3 /usr/local/bin/pypilot
pi 219 0.8 1.9 57496 18476 ? Sl 05:00 0:15 /usr/bin/python3 /usr/local/bin/pypilot
pi 220 0.2 1.0 21640 10208 ? S 05:00 0:04 /usr/bin/python3 /usr/local/bin/pypilot
pi 221 0.4 2.2 41632 21068 ? S 05:00 0:08 /usr/bin/python3 /usr/local/bin/pypilot
pi 222 0.9 1.3 87732 12872 ? Sl 05:00 0:16 /usr/bin/python3 /usr/local/bin/pypilot
pi 2254 0.0 0.0 7452 552 pts/0 S+ 05:30 0:00 grep --color=auto pypilot
pi@openplotter:~/openplotter-pypilot $ ^C
pi@openplotter:~/openplotter-pypilot $ pypilot
autopilot start 1908.907175076
world magnetic model not available
ERROR loading wind.py cannot import name 'HeadingOffset' from partially initialized module 'pypilot.autopilot' (most likely due to a circular import) (/usr/local/lib/python3.9/dist-packages/pypilot/autopilot.py) cannot import name 'HeadingOffset' from partially initialized module 'pypilot.autopilot' (most likely due to a circular import) (/usr/local/lib/python3.9/dist-packages/pypilot/autopilot.py)
imu process 2258
nmea process 2263
nmea server on port 20220: bind failed.
gps process 2265
loading servo calibration /home/pi/.pypilot/servocalibration
WARNING: using default servo calibration!!
made imu process realtime
Using settings file RTIMULib.ini
Settings file RTIMULib.ini loaded
Available Pilots: ['basic', 'absolute']
Detected MPU9250/MPU9255 at standard address
warning: failed to open special file /dev/watchdog0 for writing
cannot stroke the watchdog
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
pypilotServer process 2271
pypilot_server: bind failed; already running a server?
autopilot init complete 1909.529218116
serialprobe removing gps device /dev/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_GNSS_receiver-if00
autopilot iteration running too slow 0.08062609700004941
autopilot iteration running too slow 0.10416113500014035
MPU-925x init complete
autopilot iteration running too slow 0.08566705799989904
read imu running too _slowly_ 0.06231535099982466 0.05
autopilot iteration running too slow 0.07953929199993581
read imu running too _slowly_ 0.047197312999969654 0.05
autopilot iteration running too slow 0.07240253300005861
read imu running too _slowly_ 0.05752741099990999 0.05
autopilot iteration running too slow 0.07573930699982157
gps filter process 2266
read imu running too _slowly_ 0.04681164599992371 0.05
autopilot iteration running too slow 0.07093131200008429
nmea server on port 20220: bind failed.
read imu running too _slowly_ 0.05663179999987733 0.05
autopilot iteration running too slow 0.07669736399998328
failed to read IMU! 1910.508612582
Detected MPU9250/MPU9255 at standard address
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09414317900018432
autopilot iteration running too slow 0.09262643200008824
I2C read error from 12, 16 - Failed to read compass fuse ROM
autopilot iteration running too slow 0.09308777899991583
ERROR: IMU Init Failed, no inertial data available 1910.509780428
imu process failed to keep time 0.3143623060000209 1910.508597062 1910.82277786 1910.822861557 1910.822956816
autopilot iteration running too slow 0.09307736300002034
autopilot iteration running too slow 0.09306939299995065
autopilot iteration running too slow 0.09316147799995633
autopilot iteration running too slow 0.09319122200008678
nmea server on port 20220: bind failed.
gpsd connected
autopilot iteration running too slow 0.09320116899993991
GPSD devices ['/dev/ttyACM0']
IMURead failed!
Detected MPU9250/MPU9255 at standard address
autopilot iteration running too slow 0.09436005699990346
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09207092800011196
autopilot iteration running too slow 0.09418526900003599
autopilot iteration running too slow 0.09213306199990257
MPU-925x init complete
imu process failed to keep time 0.473758068999814 1911.523605772 1911.997177385 1911.997265144 1911.997361133
autopilot iteration running too slow 0.0941790189999665
read imu running too _slowly_ 0.052199483999856966 0.05
autopilot iteration running too slow 0.07334310600003846
read imu running too _slowly_ 0.05207042300003195 0.05
autopilot iteration running too slow 0.07433710100008284
sensor found gps gpsd /dev/ttyACM0 Thu Dec 22 05:32:05 2022
nmea server on port 20220: bind failed.
read imu running too _slowly_ 0.05169725199993991 0.05
autopilot iteration running too slow 0.07388554600015595
pypilot_server: bind failed; already running a server?
read imu running too _slowly_ 0.05170928300003652 0.05
autopilot iteration running too slow 0.07308264099992812
failed to read IMU! 1912.598042784
Detected MPU9250/MPU9255 at standard address
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09345872500011865
autopilot iteration running too slow 0.09336679900002309
I2C read error from 12, 16 - Failed to read compass fuse ROM
autopilot iteration running too slow 0.09327404000009665
ERROR: IMU Init Failed, no inertial data available 1912.599156151
imu process failed to keep time 0.31396267200011607 1912.598026794 1912.911793063 1912.911887645 1912.911986706
autopilot iteration running too slow 0.09349346400017566
autopilot iteration running too slow 0.09329898800001502
autopilot iteration running too slow 0.09351300200000878
autopilot iteration running too slow 0.0938229969999611
nmea server on port 20220: bind failed.
autopilot iteration running too slow 0.09247150800001691
IMURead failed!
autopilot iteration running too slow 0.09444064300009813
Detected MPU9250/MPU9255 at standard address
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09299951999992118
autopilot iteration running too slow 0.0941132010000274
autopilot iteration running too slow 0.09298686500005715
MPU-925x init complete
imu process failed to keep time 0.47451140900011524 1913.612716294 1914.087009269 1914.087119059 1914.087224943
autopilot iteration running too slow 0.09404153499986023
autopilot iteration running too slow 0.050408895000146
read imu running too _slowly_ 0.05272000500008289 0.05
autopilot iteration running too slow 0.0731359850001354
nmea server on port 20220: bind failed.
read imu running too _slowly_ 0.05266458899995996 0.05
autopilot iteration running too slow 0.07507767399988552
read imu running too _slowly_ 0.05234084299991082 0.05
autopilot iteration running too slow 0.0726946909999242
server/client is running too _slowly_ 0.12773085599997103
autopilot iteration running too slow 0.1304317510000601
failed to read IMU! 1914.788104802
Detected MPU9250/MPU9255 at standard address
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot iteration running too slow 0.09356056000001445
autopilot iteration running too slow 0.09479736299999786
I2C read error from 12, 16 - Failed to read compass fuse ROM
autopilot iteration running too slow 0.09375243199997385
ERROR: IMU Init Failed, no inertial data available 1914.789231191
imu process failed to keep time 0.314806924000095 1914.788089386 1915.102635689 1915.102775791 1915.102893706
autopilot iteration running too slow 0.0936354590000974
autopilot iteration running too slow 0.09442294899986337
nmea server on port 20220: bind failed.
signalk process 2264
autopilot iteration running too slow 0.09373920999996699
pypilot_server: bind failed; already running a server?
calibration loaded, starting 2257
signalkread token eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJkZXZpY2UiOiI2ZjkxNDlhNy0xMTAzLTRlNmQtODc1NC03ODcwMjRkNDM1NjQiLCJpYXQiOjE2NzE1MTQ5MjksImV4cCI6MTcwMzA3MjUyOX0.KeRv5Sl2Wn4Hl7NZPL1G1rrMdgc5mvaR9yIpMvrutYo