Drive Waypoints using OpenCPN and PyPilot?

[McNugget]

Hi all,

For me, the documentation is down. Can anyone connect and read the documentation?
https://opencpn.org/wiki/dokuwiki/doku.php

I am trying to understand how I can have PyPilot drive a defined path based on GPS coordinates. I coulnd't find any documentation on the matter and the one thread I found does not contain the solution.

I run OpenPlotter 1.2.0 on a Pi3B, motor and GPS are connected over serial and work, my 9 dof IMU is connected via I2C and works.
I have GPS in OpenCPN, I can control my PyPilot, started using the button in OpenCPN and have the boat keep a course.

I have defined a path using the route tool and would like to hit play. But where? How do I tell PyPilot that it should just a path rather than just hold a course?

Assuming this is a fresh installation, what are the steps that need to be performed to achieve this?

Cheers,
Timo

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According to this post (http://forum.openmarine.net/showthread.php?tid=1661), all I need to do (I use OpenPlotter to connect PyPilot to: 10.10.10.1 at port 20200 instead of 192.168.14.1 at port 20200) is create a route and activate it.
I will try that.

[McNugget]

that doesn’t appear to work. I cannot follow a route at the moment. The coordinates are not being transferred to pypilot...

[McNugget]

I just finished a very very nice test drive where course hold worked well. I even managed to tune the PID controller a bit (which was mandatory as my boat was overshooting and overshooting).


However, I could not get waypoint following to work at all. It just stays in course keeper, i.e. Pypilot doesn't seem to change its behavior at all when I activate a route.

Maybe this helps to spot my mistake:
https://drive.google.com/open?id=1gNSyjK...QjdyYv7uGu
https://drive.google.com/open?id=1aYBXJK...bihEmAabjQ
https://drive.google.com/open?id=1YW-uqU...Psn7opNy7T

[McNugget]

My mistake was to not send the required NMEA messages to localhost:20220 using TCP. Now it works!