Pypilot steals serial GPS from signalk

[barnaclebill22]

I did the same (rename gspdctl@.service) and rebooted but now pypilot won't start. This doesn't matter to me right now because I'm able to use pypilot_boatimu for the data I need, but I thought I would report the error here.

autopilot start 203.38940278
world magnetic model not available
imu process 1093
nmea process 1097
listening on port 20220 for nmea connections
made imu process realtime
Using settings file RTIMULib.ini
Settings file RTIMULib.ini loaded
Detected ICM20948 at option address
Using fusion algorithm Kalman STATE4
IMU Name: ICM-20948
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
loading servo calibration /home/wjquigs/.pypilot/servocalibration
WARNING: using default servo calibration!!
gps process 1103
Available Pilots: ['basic', 'absolute']
pypilotServer process 1106
pypilotinit complete 203.601066498
load file /home/wjquigs/.pypilot/pypilot.conf
store_file /home/wjquigs/.pypilot/pypilot.conf.bak 203.618 False
server setup has 6 pipes
serialprobe removing gps device /dev/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_7_-_GPS_GNSS_Receiver-if00
zeroconf addresses ['192.168.86.26', '127.0.0.1'] 2
signalk zeroconf service add opencpn._http._tcp.local. _http._tcp.local.
ICM-20948 init complete
gps filter process 1105
imu rate set to rate 20
IMU all sensor axes verified
setting initial gyro bias [0.51, 0.27, -0.6]
signalk zeroconf service add Brother HL-L2370DW series._http._tcp.local. _http._tcp.local.
gpsd connected
GPSD devices []
calibration loaded, starting 1091
server/client is running too _slowly_ 0.079926496000013
signalk process 1100
signalkread token eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJkZXZpY2UiOiI3ZjhiYjM3YS0yMjVkLTQxMGItYmJjMC01M2ZkNDgxZTlmNGIiLCJpYXQiOjE3MTExMjczMTB9.ueM0YTOkOKZnNGAwR4LFp8Ft_zVQoNAxuvdgz65lX28
signalk server found 127.0.0.1:3000
signalk found ws://127.0.0.1:3000/signalk/v1/stream?subscribe=none
signalk connected to ws://127.0.0.1:3000/signalk/v1/stream?subscribe=none
Traceback (most recent call last):
File "/usr/local/bin/pypilot", line 33, in <module>
sys.exit(load_entry_point('pypilot==0.51', 'console_scripts', 'pypilot')())
File "/usr/local/lib/python3.9/dist-packages/pypilot/autopilot.py", line 519, in main
ap.iteration()
File "/usr/local/lib/python3.9/dist-packages/pypilot/autopilot.py", line 360, in iteration
self.sensors.poll()
File "/usr/local/lib/python3.9/dist-packages/pypilot/sensors.py", line 391, in poll
self.signalk.poll()
File "/usr/local/lib/python3.9/dist-packages/pypilot/signalk.py", line 327, in poll
self.sensors.write(sensor, data, 'signalk')
File "/usr/local/lib/python3.9/dist-packages/pypilot/sensors.py", line 418, in write
self.sensors[sensor].write(data, source)
File "/usr/local/lib/python3.9/dist-packages/pypilot/sensors.py", line 45, in write
if not self.update(data):
File "/usr/local/lib/python3.9/dist-packages/pypilot/sensors.py", line 219, in update
self.speed.set(data['speed'])
KeyError: 'speed'
Error in atexit._run_exitfuncs:
Traceback (most recent call last):
File "/usr/lib/python3.9/multiprocessing/popen_fork.py", line 27, in poll
pid, sts = os.waitpid(self.pid, flag)
File "/usr/local/lib/python3.9/dist-packages/pypilot/autopilot.py", line 193, in cleanup
raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt