Pypilot

[seandepagnier]

Some issues:

LSM9DS0 IMU works great on boatimu.py but values with a MPU-9250 are really erratic. I have seen this before with RTIMULIb2 but after ellipsoid calibration values were right.

I have never used the lsm9ds0 imu. It should in theory work...

The 9250 is broken since I didn't backport the 9255 changes. The 9255 works great if you have one.

Folder /home/pi/.pypilot has to be created manually or you get errors on some tools when they try to create conf files.

good point, I should fix this. You are the first to test

autopilot_calibration.py shows a wx window with a empty black window and some buttons. This message is repeated "connect failed to pypilot:21311". It seems to me that it is trying to connect to the signalk server so I start signalk/server.py but I get the same result. If I am not wrong running boatimu.py should run also the signalk server but same result. When clicking IMU tab returns this

The boatimu.py creates a server.

Try running signalk/client.py and maybe pass "localhost" as a parameter to once boatimu is running. You should be able to run "signalk/scope_wx.py localhost" as well for example. I need to fix the config. The idea is you have a config file that allows you to specify a default remote host for the server rather than passing it from the command line each time. I think it defaults to "pypilot" which won't resolve to anything unless you connect to the access point with the dns server on tinypilot...

error:

Code:

Traceback (most recent call last):
 File "autopilot_calibration.py", line 267, in onPaintGLBoatPlot
   self.boat_plot.display(self.fusionQPose)
 File "/home/pi/pypilot/ui/boatplot.py", line 34, in display
   self.obj = pywavefront.Wavefront('Vagabond.obj')
 File "/usr/local/lib/python2.7/dist-packages/pywavefront/__init__.py", line 53, in __init__
   ObjParser(self, self.file_name)
 File "/usr/local/lib/python2.7/dist-packages/pywavefront/__init__.py", line 75, in __init__
   self.read_file(file_name)
 File "/usr/local/lib/python2.7/dist-packages/pywavefront/parser.py", line 43, in read_file
   for line in open(file_name, 'r'):
IOError: [Errno 2] No such file or directory: 'Vagabond.obj'

The binaries files are in a separate repository "pypilot_data" I just put on github today.

github.com/pypilot/pypilot_data

It seems that the 3d object "Vagabond.obj" is not found.


I think you should check the file names on README, There are files that I have not found because it seems that you renamed them.

Yes, sorry about this. It will get better... Thank you for testing.

---

Ok I have found the data for pypilot in a separate repo and added vagabond.obj and now the eeror on IMU tab is:

Code:

Traceback (most recent call last):
 File "autopilot_calibration.py", line 267, in onPaintGLBoatPlot
   self.boat_plot.display(self.fusionQPose)
 File "/home/pi/pypilot/ui/boatplot.py", line 72, in display
   self.obj.draw()
 File "/usr/local/lib/python2.7/dist-packages/pywavefront/__init__.py", line 57, in draw
   this_mesh.draw()
 File "/usr/local/lib/python2.7/dist-packages/pywavefront/mesh.py", line 63, in draw
   material.draw()
 File "/usr/local/lib/python2.7/dist-packages/pywavefront/material.py", line 103, in draw
   glMaterialf(face, GL_SHININESS, self.shininess)
 File "/usr/local/lib/python2.7/dist-packages/pyglet/gl/lib.py", line 104, in errcheck
   raise GLException(msg)
pyglet.gl.lib.GLException: invalid value

Ah I forgot about this !!!

Just comment out line 103 in material.py or add
self.shininess = min(128, self.shininess)
just before it.

I think it's a bug in pywavefront