IMU what information uses pypilot

[Andreas29]

Hi,

after building my pypilot and now waiting for the spring to use it I have to admit that I have one more question.

How do pypilot gets the information for the heading (or direction to steer)?

Does pypilot use the magnetometers and calculate a heading from it and then calculate the correction?
Does pypilot use the accelerometers to calculate a moving impulse of the boat to steer against it?

Or is it a combination of both heading and accelerometer?

Have a rudderangle sensor more functions then to use it for the center knob and for generating the rudder max/min flag? 

Thanks

Best regards

Andreas