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Getting started debugging
#1
Hi Sean, 

first of all, thanks for you fantastic work so far. 

I installed all the needed hardware and pypilot seems to run. 
I can level the sensors and calibrate the compass, ping a full circle.

But I am not able to start the opencpn plugin calibration, it crashes the whole cpn
The compass shows the wrong heading, I am also not able to use the graphical signal k client within cpn to fix this,. The values don't get saved. 

Trying to debug on cli shows 

_boatimu produces some errors, I will post the log later l. Could the mpu be faulty, even if it shows the heading, pitch and roll. 
_servo shows an wx lib error. 
_calibration also does not work and produces script errors... 

Hope you have some suggestions where to look next.

Thanks 

Christian
  Reply
#2
tc@box:~$ pypilot_boatimu
warning, failed to make calibration process idle, trying renice
Settings file RTIMULib.ini loaded
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
MPU-925x init complete
failed to read IMU!!!!!!!!!!!!!!3403625207 heading 222.124953114
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
I2C read error from 12, 16 - Failed to read compass fuse ROM66579
ERROR: IMU Init Failed, no inertial data available
signalk_server: bind failed, try again.
IMURead failed!
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
signalk_server: bind failed, try again.
MPU-925x init complete
signalk_server: bind failed, try again.8528 heading 222.318450321
signalk_server: bind failed, try again. heading 171.057850331 8
failed to read IMU!!!!!!!!!!!!!!0769166 heading 162.047069782
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
I2C read error from 12, 16 - Failed to read compass fuse ROM08
ERROR: IMU Init Failed, no inertial data available
signalk_server: bind failed, try again.
IMURead failed!
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
MPU-925x init complete
signalk_server: bind failed, try again.593 heading 223.088792851
signalk_server: bind failed, try again. heading 219.726963691 1
failed to read IMU!!!!!!!!!!!!!!8470517 heading 158.781054504
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
I2C read error from 12, 16 - Failed to read compass fuse ROM48
ERROR: IMU Init Failed, no inertial data available
signalk_server: bind failed, try again.
IMURead failed!
Using settings file RTIMULib.ini
  Reply
#3
tc@box:~$ pypilot_boatimu
warning, failed to make calibration process idle, trying renice
Settings file RTIMULib.ini loaded
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
MPU-925x init complete
failed to read IMU!!!!!!!!!!!!!!3403625207 heading 222.124953114
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
I2C read error from 12, 16 - Failed to read compass fuse ROM66579
ERROR: IMU Init Failed, no inertial data available
signalk_server: bind failed, try again.
IMURead failed!
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
signalk_server: bind failed, try again.
MPU-925x init complete
signalk_server: bind failed, try again.8528 heading 222.318450321
signalk_server: bind failed, try again. heading 171.057850331 8
failed to read IMU!!!!!!!!!!!!!!0769166 heading 162.047069782
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
I2C read error from 12, 16 - Failed to read compass fuse ROM08
ERROR: IMU Init Failed, no inertial data available
signalk_server: bind failed, try again.
IMURead failed!
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
MPU-925x init complete
signalk_server: bind failed, try again.593 heading 223.088792851
signalk_server: bind failed, try again. heading 219.726963691 1
failed to read IMU!!!!!!!!!!!!!!8470517 heading 158.781054504
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
I2C read error from 12, 16 - Failed to read compass fuse ROM48
ERROR: IMU Init Failed, no inertial data available
signalk_server: bind failed, try again.
IMURead failed!
Using settings file RTIMULib.ini
  Reply
#4
(06-19-2019, 09:47 AM)sideluxe Wrote: tc@box:~$ pypilot_boatimu
warning, failed to make calibration process idle, trying renice
Settings file RTIMULib.ini loaded
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
MPU-925x init complete
failed to read IMU!!!!!!!!!!!!!!3403625207 heading 222.124953114
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
I2C read error from 12, 16 - Failed to read compass fuse ROM66579
ERROR: IMU Init Failed, no inertial data available
signalk_server: bind failed, try again.
IMURead failed!
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
signalk_server: bind failed, try again.
MPU-925x init complete
signalk_server: bind failed, try again.8528 heading 222.318450321
signalk_server: bind failed, try again. heading 171.057850331 8
failed to read IMU!!!!!!!!!!!!!!0769166 heading 162.047069782
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
I2C read error from 12, 16 - Failed to read compass fuse ROM08
ERROR: IMU Init Failed, no inertial data available
signalk_server: bind failed, try again.
IMURead failed!
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
MPU-925x init complete
signalk_server: bind failed, try again.593 heading 223.088792851
signalk_server: bind failed, try again. heading 219.726963691 1
failed to read IMU!!!!!!!!!!!!!!8470517 heading 158.781054504
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
I2C read error from 12, 16 - Failed to read compass fuse ROM48
ERROR: IMU Init Failed, no inertial data available
signalk_server: bind failed, try again.
IMURead failed!
Using settings file RTIMULib.ini

Is pypilot already running?  Do not run pypilot_boatimu if a server is already running.

Just run pypilot_calibration, pypilot_control, and many more  see the README
  Reply
#5
i did a killall on all python svc before

other commands deliver:

tc@box:~$ pypilot_calibration
Traceback (most recent call last):
File "/usr/local/bin/pypilot_calibration", line 9, in <module>
load_entry_point('pypilot==0.7', 'console_scripts', 'pypilot_calibration')()
File "/usr/local/lib/python2.7/site-packages/pkg_resources/__init__.py", line 561, in load_entry_point
return get_distribution(dist).load_entry_point(group, name)
File "/usr/local/lib/python2.7/site-packages/pkg_resources/__init__.py", line 2631, in load_entry_point
return ep.load()
File "/usr/local/lib/python2.7/site-packages/pkg_resources/__init__.py", line 2291, in load
return self.resolve()
File "/usr/local/lib/python2.7/site-packages/pkg_resources/__init__.py", line 2297, in resolve
module = __import__(self.module_name, fromlist=['__name__'], level=0)
File "/usr/local/lib/python2.7/site-packages/ui/autopilot_calibration.py", line 11, in <module>
import wx, wx.glcanvas
ImportError: No module named wx
tc@box:~$ pypilot_control
Traceback (most recent call last):
File "/usr/local/bin/pypilot_control", line 9, in <module>
load_entry_point('pypilot==0.7', 'console_scripts', 'pypilot_control')()
File "/usr/local/lib/python2.7/site-packages/pkg_resources/__init__.py", line 561, in load_entry_point
return get_distribution(dist).load_entry_point(group, name)
File "/usr/local/lib/python2.7/site-packages/pkg_resources/__init__.py", line 2631, in load_entry_point
return ep.load()
File "/usr/local/lib/python2.7/site-packages/pkg_resources/__init__.py", line 2291, in load
return self.resolve()
File "/usr/local/lib/python2.7/site-packages/pkg_resources/__init__.py", line 2297, in resolve
module = __import__(self.module_name, fromlist=['__name__'], level=0)
File "/usr/local/lib/python2.7/site-packages/ui/autopilot_control.py", line 10, in <module>
import wx, sys, subprocess, socket, os, time
ImportError: No module named wx


I not so much into python.....Sad

As mentioned in my first post, i am also not able to start the opencpn plugin calibration...
  Reply
#6
The error you got is strange if it's from openplotter which should have all the needed python dependencies installed. Otherwise, in the README it should detail the packages needed and how to install them so you can run the calibration script anywhere.
  Reply
#7
(06-21-2019, 08:15 PM)seandepagnier Wrote: The error you got is strange if it's from openplotter which should have all the needed python dependencies installed.   Otherwise, in the README it should detail the packages needed and how to install them so you can run the calibration script anywhere.

ok, thanks sean, i´ll take a look there and come back with results
  Reply
#8
(06-19-2019, 04:45 PM)sideluxe Wrote: I not so much into python.....Sad

As mentioned in my first post, i am also not able to start the opencpn plugin calibration...

I am experiencing the same thing... have you found a solution?
  Reply
#9
Some news from the project....

I finished installing my prototype and did some first sea trials.

First some pics

https://photos.app.goo.gl/N4S7zZ6aa1uTnGSj9

I did an all in one box, to be mounted outside. Actuator is an older raymarine ST4000.
Using no rudder feedback

My exp so far.

Sometimes it works like a charm as seen in the little video, but it is not stable. 

 - Sometimes the pilot starts to leave course and does nothing or much to less correction to go back to desired heading
 - Course keeping is not tight enough,  correction starts mainly after after ten deg off 
 - The compass direction is not always correct, cali seems to be fine, but after setting the offset the course differs about 20 - 30 deg when moving to another direction. 
 - Making changes in the desired heading when the AP is engaged does nothing. No reaction at all, even if I change 50 deg port p or stb
 - When engaging the AP does move the control arm about 5cm and does not compensate this back


I tried to play with gains a lot, mainly D, P and DD , but a total satisfaction is not reached yet.

Any suggestions regarding above problem would be helpful.

Thanks and Ahoi
  Reply
#10
Are you running tiny pilot or openplotter?
I am running openplotter with the Moitessier hat and I have experienced some of the same, when it works it works great but the system often does not react to input, and the whole thing needs to be restarted, other times I need to log back into to Remote Desktop and restart Pypilot.
Other times it works great for hours on end...
I am going to try tinypilot, the fact that it runs entirely in ram is appealing to me and I suspect it’s more stable as it is a dedicated device which openplotter is not.
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