2021-11-26, 04:19 AM
Thanks for your reply. There are two questions, 1, serial connection to arduino motor driver and 2, i2c connection to IMU (compass, accerometer/gyro).
The arduino board is connected to RPi4 serial port, physical pins 8, 10 (GPIO14, 15), this was working on old RPi3 with older opencpn/pypilot. This is not working on the RPi4 on the GPIO pins but does work via USB, the run between boards is longer than I would like to run a USB cable, I would prefer to use a serial connection but cannot get it to work.
The IMU is on i2c bus 3 (as default i2c bus is noisy with touch screen on it), I can see it with i2cdetect and can read it with a simple python script. I haven't found how to tell pypilot that it is on bus 3. Under "Autopilot" tab is says "Detected IMU: Auto discover" but if I go into calibration there is no data from the IMU.
The arduino board is connected to RPi4 serial port, physical pins 8, 10 (GPIO14, 15), this was working on old RPi3 with older opencpn/pypilot. This is not working on the RPi4 on the GPIO pins but does work via USB, the run between boards is longer than I would like to run a USB cable, I would prefer to use a serial connection but cannot get it to work.
The IMU is on i2c bus 3 (as default i2c bus is noisy with touch screen on it), I can see it with i2cdetect and can read it with a simple python script. I haven't found how to tell pypilot that it is on bus 3. Under "Autopilot" tab is says "Detected IMU: Auto discover" but if I go into calibration there is no data from the IMU.