I followed https://github.com/pypilot/pypilot to compile and install pypilot successfully.
Now I tried getting the IMU to work again but so far without success. It seems like pypilot_boatimu is using a config file it creates in the user's home directory called RTIMULib.ini
In there we can find a number of config options like whether to use I2C or SPI for communication. I hooked my sensor up to I2C but the output of pypilot_boatimu suggests that it is ignoring that setting and is instead looking for SPI-0, Select 0 instead.
I changed things in the config file and none of my settings are respected at the moment. However, it does look like pypilot can connect when the server is running and I start the UI from within OpenCPN. So there is a way, I just need the IMU sensor to come up.
chartplotter@chartplotter-Satellite-U505:~$ pypilot_boatimu
imu process 22259
pypilotServer process 22261
server setup has 3 pipes
[sudo] password for chartplotter: zeroconf addresses ['192.168.1.52', '127.0.0.1'] 2
zeroconf exception:
made imu process realtime
Using settings file RTIMULib.ini
Settings file RTIMULib.ini loaded
Failed to open SPI bus 0, select 0
Using fusion algorithm Kalman STATE4
ERROR: No IMU Detected 1158.533589643
imu rate set to rate 20
setting initial gyro bias [0.0, 0.0, 0.0]
calibration loaded, starting 22257
Now I tried getting the IMU to work again but so far without success. It seems like pypilot_boatimu is using a config file it creates in the user's home directory called RTIMULib.ini
In there we can find a number of config options like whether to use I2C or SPI for communication. I hooked my sensor up to I2C but the output of pypilot_boatimu suggests that it is ignoring that setting and is instead looking for SPI-0, Select 0 instead.
I changed things in the config file and none of my settings are respected at the moment. However, it does look like pypilot can connect when the server is running and I start the UI from within OpenCPN. So there is a way, I just need the IMU sensor to come up.
chartplotter@chartplotter-Satellite-U505:~$ pypilot_boatimu
imu process 22259
pypilotServer process 22261
server setup has 3 pipes
[sudo] password for chartplotter: zeroconf addresses ['192.168.1.52', '127.0.0.1'] 2
zeroconf exception:
made imu process realtime
Using settings file RTIMULib.ini
Settings file RTIMULib.ini loaded
Failed to open SPI bus 0, select 0
Using fusion algorithm Kalman STATE4
ERROR: No IMU Detected 1158.533589643
imu rate set to rate 20
setting initial gyro bias [0.0, 0.0, 0.0]
calibration loaded, starting 22257