Pypilot

[seandepagnier]

It is important for us that we could use more than one IMU model. Despite being optimized for MPU-9255, it seems to me that I am getting good result with LSM9DS0.

After following your moving instructions I get a first fix after less than a minute and I keep getting fixes.

Code:

{"imu/compass_calibration": {"value": [[-4.188, -1.277, 4.439, 42.134, 0.839], [-4.192, -1.287, 4.04, 42.462], [-4.192, -1.287, 4.04, 42.462, 1.0, 1.0]]}}

Do you think this is acceptable? I do.

I have no way of judging just from the calibration. If you get good compass readings maybe it's good?

I have already an idea to implement pypilot to openplotter. The plan is to fully implement pypilot in 2 steps.

First I will add a new tab "compass" for pypilot compass/imu management. I will run boatimu.py and I will connect to signalk python server to get values to the main signalk node server. Could you point me to the best way to get data from signalk python server?

You can look at the source code to any script that uses the SignalkClient class...

You can watch certain values. It will then receive updates when they change. Alternately you can poll the values if you don't need as fast a rate, it can save some bandwidth. The autopilot runs at 10hz by default, but could run faster.

Seconf I will add a tool "Autopilot" for the rest of scripts. I will do this when I get the hardware.

e-sailing has developed a way to create the deviation table for your boat and add values to data coming from the IMU. Do you have plans to implement deviations on pypilot or can I apply e-sailing method?

What deviations? You can certainly reajust the autopilot gains from a client. This is what the autogain client does. Eventually I might implement all kinds of autofiltering etc, but for now, manually tuning the P and D gains isn't that hard and gives good results.