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Openplotter Motor Controller Serial Port
What do I have to do, in order to configure the serial port on the PI 4 running Openplotter to configure the motor controller and buttons.
I got already a working  Tinypilot (zero and PI2).
Perhaps I am miss lead. I understand that on openplotter the motor controller runs off a serial port from the main (Plotter) raspberry, or do I have to use a second raspberry (Tinypilot) to drive the motor controller. It´s very confusing....the Tiny Pilot installation is understandable, as fare as a stand alone autopilot. From the documentation as I read it, the motor-controller can be driven via the serial port of the raspberry (plotter)
Perhaps I dont understand the concept.

I ´m using one of the prototype hats. Therefore I just need to unplug e.g. Zero and plug in PI2 etc. The IMU is working, the plotter works....

For a steel boat the compass needs to be located remote e.g.with a I2C Bus Extender ....

I also would like to have a remote installation for the compass on my plastic boat (Moody 34). The tank is nearby the sensor.....It works, but.....
I do this through USB, but I am also interested in connecting it directly to the GPIO header of the pi.
Tried this once by assigning the /dev/ttyAMA0 serialport of openplotter and assigning it to pypilot, but whenever I did this it didn't give me the SYNC status in Pypilot. If some light would be shed on this subject, it would mean one less USB cable for me. The connection would be to connect the RX/TX from Arduino to the Pi with the correct Baudrate of (38400?). One thing to take into account, not sure if this is correct, is to take into consideration the opto isolation. It is recommended to "isolate" the connection between the Arduino and the Pi. Maybe Sean can say something about this.
I recommend the opto isolation for protecting the pi as well as level shift.

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