Autopilot route plugin

[rastam4n]

saturation basically means the command is greater than what can be achieved.   It is really impossible to know the cause of this without more information.  Did the autopilot disengage on its own?   If you had the log when this happened it also may give a lot of clues.

Here is the log of a pypilot crash event? 
It behaves differently running from command line. It does not reconnect... because pypilot does not restart. I am not sure why it says keyboard interrupt... the keyboard was not touched.

Code:

sing 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: 1597244041.7971854
autopilot failed to read imu at time: 1597244041.938901
MPU-925x init complete
autopilot failed to read imu at time: 1597244042.0817912
MPU-925x fifo has invalid count
failed to read IMU!!!!!!!!!!!!!!
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: 1597244098.5111096
autopilot failed to read imu at time: 1597244098.653065
autopilot failed to read imu at time: 1597244098.7959723
MPU-925x init complete
autopilot failed to read imu at time: 1597244098.9382255
Process Process-2:
Traceback (most recent call last):
 File "/usr/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
   self.run()
 File "/usr/lib/python3.7/multiprocessing/process.py", line 99, in run
   self._target(*self._args, **self._kwargs)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/calibration_fit.py", line 624, in CalibrationProcess
   compass_cal.AddPoint(p['compass'], p['down'])
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/calibration_fit.py", line 428, in AddPoint
   if total < mind:
TypeError: '<' not supported between instances of 'complex' and 'float'
got signal 17 cleaning up
got signal 15 cleaning up
got signal 15 cleaning up
Traceback (most recent call last):
 File "/usr/local/bin/pypilot", line 11, in <module>
Process Process-1:
Process gpsProcess-5:
   load_entry_point('pypilot==0.16', 'console_scripts', 'pypilot')()
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/autopilot.py", line 395, in main
   ap.run()
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/autopilot.py", line 214, in run
   self.iteration()
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/autopilot.py", line 390, in iteration
got signal 15 cleaning up
   time.sleep(dt)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/autopilot.py", line 107, in cleanup
Process NmeaBridgeProcess-4:
   raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
Traceback (most recent call last):
got signal atexit cleaning up
 File "/usr/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
   self.run()
 File "/usr/lib/python3.7/multiprocessing/process.py", line 99, in run
   self._target(*self._args, **self._kwargs)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/pipeserver.py", line 147, in pipe_server_process
   time.sleep(.1)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/autopilot.py", line 107, in cleanup
   raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
Traceback (most recent call last):
 File "/usr/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
   self.run()
 File "/usr/lib/python3.7/multiprocessing/process.py", line 99, in run
   self._target(*self._args, **self._kwargs)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/gpsd.py", line 66, in gps_process
   self.read(pipe)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/gpsd.py", line 39, in read
   gpsdata = self.gpsd.next()
 File "/usr/local/lib/python3.7/dist-packages/gps/gps.py", line 301, in next
   return self.__next__()
 File "/usr/local/lib/python3.7/dist-packages/gps/gps.py", line 292, in __next__
   if self.read() == -1:
 File "/usr/local/lib/python3.7/dist-packages/gps/gps.py", line 281, in read
   status = gpscommon.read(self)
 File "/usr/local/lib/python3.7/dist-packages/gps/client.py", line 115, in read
   frag = self.sock.recv(8192)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/autopilot.py", line 107, in cleanup
   raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
got signal 17 cleaning up
Error in atexit._run_exitfuncs:
Traceback (most recent call last):
 File "/usr/lib/python3.7/multiprocessing/popen_fork.py", line 28, in poll
   pid, sts = os.waitpid(self.pid, flag)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/autopilot.py", line 107, in cleanup
   raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
Traceback (most recent call last):
 File "/usr/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
   self.run()
 File "/usr/lib/python3.7/multiprocessing/process.py", line 99, in run
   self._target(*self._args, **self._kwargs)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/nmea.py", line 702, in process
   time.sleep(dt)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/autopilot.py", line 107, in cleanup
   raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
got signal 15 cleaning up
Process Process-3:
Traceback (most recent call last):
 File "/usr/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
   self.run()
 File "/usr/lib/python3.7/multiprocessing/process.py", line 99, in run
   self._target(*self._args, **self._kwargs)
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/boatimu.py", line 105, in imu_process
   if not rtimu.IMURead():
 File "/usr/local/lib/python3.7/dist-packages/pypilot-0.16-py3.7-linux-armv7l.egg/pypilot/autopilot.py", line 107, in cleanup
   raise KeyboardInterrupt # to get backtrace on all processes
KeyboardInterrupt
closing autopilot
pi@openplotter:~ $