Pypilot and a RC boat

[jonflye]

if you want to drive the servo directly from the pi, check servo.py.   Otherwise it may work directly from motor.ino but pypilot will output relative movement and the servo will move to an absolute angle.   This may be ok if you adjust the gains differently, but it's a different level of integration.

Hi,

I first tried the option of making the RC servo continuous. I checked my modification with a simple arduino sketch and am am able to comand it at a slow speed.
I then tried to reduce servo speed modifying parameters in pypilot.conf (servo connected to the arduino and using the servo's potentiometer as feedback). I was not able to reduce speed and the servo run at a speed such as it always overpasses configured the max rudder range. What are the parameters in pypilot.conf that allows to drastically reduce motor speed ?

I also noticed that reducing the servo speed (with my simple arduino sketch) also comes with a huge reduction of the torque. So i am not sure making the servo continuous is the best option.
I tried to explore the option of commanding the servo angle directly from pypilot. I checked servo.py and I have few questions : 
 - in the option of driving the sevo directly from the raspi? how to make such as RaspberryHWPWMServoDriver is called instead of to arduino motor driver.
- I guess using the absolute pilot combined with RaspberryHWPWMServoDriver would be the option to explore, right ? 

Thanks