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PyPilot on OpenPlotter with dAISy hat
#1
   
(2019-06-16, 11:09 PM)skyeyedoc Wrote: So, I'm hoping this will work:

I've just mounted an InvenSense IMU-9255 in an RPi-3B+ box, on the pass-thru i2c pins of its dAISy ais receiver hat. (see photo)

The pi is running latest OpenPlotter, and has the on-board wifi configured as an access point. There's a second wifi device running on a usb dongle to provide WAN access. There's a gps puck on usb.

I run the box headless controlling it with VNC in my linux laptop, and have succeeded in getting gps and ais data to OpenCPN running on that laptop over the wifi link. If I plot a course on the laptop, and activate it, I succeed in transmitting via wifi course deviation sentences back to kplex on the RPi. I've also configured NMEA output through an RS422 usb dongle which I hardwire to the vhf marine radio to provide that with gps sentences. (A Standard Horizon with a panic button, but no gps of its own)

I've succeeded in calibrating the IMU within PyPilot, and have proven that its compass and gyro/inertial sensors are working, but I don't know if the compass will be affected by the greater field transients the 3B+ may have, being a pretty busy little box.

So far, all good!

What I'd like to figure out, if practical, is to build a wifi-enabled motor-controller to which I can send pypilot serial output wirelessly.

I thought maybe a Pi Zero W married to a motor-controller board could be made to work? Or is there a wifi-enabled arduino that would work better?

I'm also wondering if those OpenCPN-generated gps course-correction, x-track error sentences would be useful if utilized somehow in PyPilot. Or does Sean's program run entirely from wind, compass, and inertial inputs alone, without reference to gps?

I'm mindful that the complexities of my approach has its downsides: many eggs in one basket, and wireless data flow might be more fragile than hardwired. Even so, I'd like to figure a way, and try it out.

There's many questions this post is asking, and there's more to come, I'm sure. I'd really enjoy any comments or suggestions: whatever comes to mind, and whatever others have already tried. Thanks for reading this far!
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PyPilot on OpenPlotter with dAISy hat - by skyeyedoc - 2019-06-16, 11:09 PM

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