Pypilot compass calibration getting lost

[drbarritt]

Hi Sean, I have done some more testing and have now disabled pypilot_boatimu and pypilot_web services and have pypilot_hat running from the autostart directory.  So now the only service running is pypilot.  If I stop pypilot and run it from the prompt I get:

pi@openplotter:~ $ pypilot        
autopilot start 965.860352699
world magnetic model not available
ERROR loading wind.py cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)   cannot import name 'HeadingOffset' from 'pypilot.autopilot' (/usr/local/lib/python3.7/dist-packages/pypilot/autopilot.py)
imu process 3592
nmea process 3596
listening on port 20220 for nmea connections
gps process 3599
loading servo calibration /home/pi/.pypilot/servocalibration
WARNING: using default servo calibration!!
Available Pilots: ['basic', 'basic2', 'basic3', 'absolute', 'simple']
warning: failed to open special file /dev/watchdog0 for writing cannot stroke the watchdog
made imu process realtime
Using settings file RTIMULib.ini
Settings file RTIMULib.ini loaded
Detected MPU9250/MPU9255 at standard address
pypilotServer process 3602
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
server setup has 5 pipes
autopilot init complete 966.437365636
serialprobe removing gps device /dev/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_7_-_GPS_GNSS_Receiver-if00
autopilot iteration running too slow 0.08152242500000284
autopilot iteration running too slow 0.07350128900009167
server add socket ('127.0.0.1', 51894)
MPU-925x init complete
server add socket ('127.0.0.1', 51896)
autopilot iteration running too slow 0.1496633499999689
setting initial gyro bias [2.014, -3.165, -1.164]
imu rate set to rate 10
server add socket ('127.0.0.1', 51898)
gpsd connected
calibration loaded, starting 3590
GPSD devices ['/dev/ttyACM0']
servo probe ('/dev/ttyOP_arduino', 38400) 971.516375292
failed to open servo on: ('/dev/ttyOP_arduino', 38400) [Errno 2] could not open port /dev/ttyOP_arduino: [Errno 2] No such file or directory: '/dev/ttyOP_arduino'
server/client is running too _slowly_ 0.12416198199991868
autopilot iteration running too slow 0.1258177939999996
signalk process 3598
signalkread token eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJkZXZpY2UiOiJweXBpbG90LTQwMTAxNTA5MTcwIiwiaWF0IjoxNjQ4NjQwNzQ4fQ.rPAKkNnYTQoD0UI-CKNPwdj7O_t9q46Nf_GLvSdVHwk
signalk zeroconf service add openplotter._http._tcp.local. _http._tcp.local.
signalk server found 192.168.1.117:3000
signalk zeroconf service add myrouter._http._tcp.local. _http._tcp.local.
signalk zeroconf service add WiserHeat034D42._http._tcp.local. _http._tcp.local.
signalk zeroconf service add Linksys03851._http._tcp.local. _http._tcp.local.
signalk probe... 192.168.1.117:3000
signalk found ws://192.168.1.117:3000/signalk/v1/stream?subscribe=none
signalk connected to ws://192.168.1.117:3000/signalk/v1/stream?subscribe=none
sensor found gps signalk GPsignalk
nmea probe ('/dev/ttyOP_arduino', 38400)
failed to open ('/dev/ttyOP_arduino', 38400) for nmea data [Errno 2] could not open port /dev/ttyOP_arduino: [Errno 2] No such file or directory: '/dev/ttyOP_arduino'
nmea probe ('/dev/ttyOP_arduino', 4800)
failed to open ('/dev/ttyOP_arduino', 4800) for nmea data [Errno 2] could not open port /dev/ttyOP_arduino: [Errno 2] No such file or directory: '/dev/ttyOP_arduino'
Exception converting signalk->pypilot unsupported operand type(s) for /: 'NoneType' and 'float' {'pypilot': {}, 'GP': {'navigation.position': {'longitude': -4.051491166666667, 'latitude': 50.316603}, 'navigation.courseOverGroundTrue': None, 'navigation.speedOverGround': 0.09877335835591701}}
Exception converting signalk->pypilot unsupported operand type(s) for /: 'NoneType' and 'float' {'pypilot': {}, 'GP': {'navigation.position': {'longitude': -4.051491166666667, 'latitude': 50.316603}, 

All looks OK (I don't have an arduino connected at the moment) except for the SignalK error, which I have not seem before. The Calibration Loaded message seems to indicate the config file has been loaded OK.

I then calibrated the Accelerometer and then the compass (see screenshot attached) and left the system running for a while.  The compass was reading correctly all the time.  I checked the pypilot.conf file and the compass calibration reading had been updated:

imu.gyrobias=[2.170, -3.104, -1.021]
imu.accel.calibration.locked=false
imu.accel.calibration.points=[[-1.477, -0.626, -0.342], [-1.490, -0.631, -0.256], [-1.511, -0.652, -0.135], [-1.162, -1.646, -1.325], [-1.520, -1.446, 0.644], [-0.289, -1.290, -0.154], [-1.197, -0.597, -0.341], [-0.800, -1.673, -1.230], [-1.284, -2.000, -0.395], [-1.189, -1.545, 0.699], [-2.000, -1.648, -0.360], [-0.230, -1.667, -0.276]]
imu.compass.calibration.locked=false
imu.compass.calibration.points=[[22.565, -26.972, -12.068], [0.357, -20.012, -21.695], [20.611, -49.877, -18.364], [12.677, -45.714, -19.003], [11.747, -32.099, -16.014], [13.487, -24.927, -14.874], [42.104, -30.923, -13.414], [5.981, -10.747, -21.193], [36.552, -51.640, -18.912], [10.365, -20.223, -16.448], [18.705, -40.635, -14.600], [24.066, -22.528, -12.068], [38.554, -24.056, -12.707], [45.774, -38.989, -15.125], [34.193, -15.944, -13.893], [48.943, -49.759, -98.025], [20.135, 1.035, -22.402], [40.436, -46.114, -16.562], [11.342, -35.861, -16.539], [5.576, -29.559, -18.569], [35.552, -10.441, -15.992], [29.785, -3.339, -18.569], [49.658, -41.776, -101.744], [23.256, -53.122, -19.938], [34.050, -45.479, -15.398], [35.432, -52.463, -19.505], [18.300, -12.252, -15.809], [36.934, -48.865, -102.177]]

I then re-booted the pi and the compass was not working at all and calibration values lost (see screenshot).  The OpenCPN Pypilot plugin is working fine, although I do have to click on the config button and then OK to get it to connect to pypilot.

As always, any help much appreciated!
Regards
David