For testing only the imu (inertial sensors) it is useful to run this script.   If an autopilot is not needed, and only calibrated compass, this script can be used as well.  openplotter uses it for "imu only" mode.

<code>
pi@openplotter:~ $  pypilot_boatimu
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
MPU-925x init complete
</code>

The pitch, roll and heading are now output to the console, and [[pypilot_calibration]] can be used.