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Its a miracle
Sooo - After many months of fiddling around with Openplotter/Pypilot, various motor controllers, lots of cheap but bad IMU's, finally - A working autopilot, that receives and follows a course from OpenCPN. Still on the wishlist is a simple UPS/ battery backup so the RPI doesn't lose power when I crank the engine, and I still cant get the Pypilot OpenCPN plugin to work whatever i do but minor stuff.

Such a nice evening to not have to steer the old Bayliner:

- Thanks to all of you that pointed me in the right direction (no pun intended)
If you ask in the pypilot forum you will get faster response usually...

Just post the pypilot version and pypilot opencpn plugin version. It is most likely a difference that is the issue.
A little late to this, but this is the unit I am using as UPS on my Openplotter build.

Has built in BMS, just add 3 batteries and wire it up.  Add a diode in the live supply from the boat to stop backfeeding into the boat's electrical system.

Depending in the batteries you use, you will get 6 to 10 hours of run time.
lol I'm happy to see you got the help you needed.  I was following the thread to help me with my own issues so you Im thankful you asked,

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