remote boatimu

[ironman]

I don't think using a remote imu is a good idea or intended because of the lag between reading the sensors and reacting with the motor.

Still, it's what I want to try; if the IMU refresh rate is 100ms I don't mind losing a few millisecs on wifi pingtime. I think I can get boatimu connect to a remote pypilot through configuration of pypilot_client.conf and similar changes (below), but I can't test it now yet. I'll let you know the results, positive or negative. 

Code:

pi@openplotter:/usr/local/lib/python3.7/dist-packages/pypilot-0.23-py3.7-linux-armv7l.egg/pypilot $ diff ~/pypilot/pypilot boatimu.py
37,39c38,42
<         self.client = pypilotClient(server)
<         self.multiprocessing = server.multiprocessing
<         if self.multiprocessing:
---
>         self.client = pypilotClient()
>         #self.multiprocessing = server.multiprocessing
>         if False:
310c313
<         if True:
---
>         if False:
316c319,320
<         self.client = pypilotClient(server)
---
>         self.client = pypilotClient()
342c346,347
<         self.auto_cal = AutomaticCalibrationProcess(client.server)
---
>         self.auto_cal = AutomaticCalibrationProcess(client)
365c370
<         self.imu = IMU(client.server)
---
>         self.imu = IMU(client)
386c391,392
<         if self.imu.multiprocessing:
---
>         if False:
396c402,403
<         if not self.imu.multiprocessing:
---
>         if False:
516c523,524
<     client = pypilotClient(server)
---
>     client = pypilotClient()