Autopilot route plugin

[rastam4n]

I don't know where the log file is going but that isn't it.   Could you stop pypilot with "sudo service pypilot stop"  Then just run pypilot from the terminal "pypilot" and you should see the log I need.   The 180 problem is something wrong with the route plugin.

I will run the next time I'm out with pypilot running in a terminal window following your instructions next time I am out. 

I did have something that has not happened before happen today. 
AP was activated and we were trolling following a compass heading, when without any input from us the engine was turned hard to starboard... I looked at the pypilot plugin window in openCPN and it displayed a message about saturation limit error and then AP was deactivated? Not the exact words but that is what I remember... If that happened at speed... it would be very concerning. Any idea what might cause that?

Here is the start up log I just executed on land. Maybe there is something in that that will help

Code:

pi@openplotter:~/.pypilot $ sudo service pypilot stop
pi@openplotter:~/.pypilot $ pypilot
loading servo calibration /home/pi/.pypilot/servocalibration
WARNING: using default servo calibration!!
Loaded Pilots: ['wind', 'learning', 'simple', 'basic', 'absolute']
warning: failed to open special file /dev/watchdog0 for writing
        cannot stroke the watchdog
connected to gpsd
Settings file not found. Using defaults and creating settings file
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
autopilot failed to read imu at time: 1596920172.1508598
serial exception ('/dev/ttyS0', 38400) nmea0 Could not configure port: (5, 'Input/output error')
sensors is running too _slowly_ 0.07401466369628906
MPU-925x init complete
autopilot failed to read imu at time: 1596920172.3855631
arduino servo found on ['/dev/ttyAMA0', 38400]
serialprobe success: /home/pi/.pypilot/servodevice ['/dev/ttyAMA0', 38400]
connect failed to localhost:21311
nmea process failed to connect pypilot [Errno 111] Connection refused
nmea ready for connections
listening on port 20220 for nmea connections
EEPROM SIGNATURE ok
setup wiatches True
found gps on tcp socket1GP
servo calibration invalid False