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+The motor controller sketch is located in pypilot/arduino/motor of the [[https://github.com/pypilot/pypilot|pypilot git]] repository.
+This sketch can run on pypilot motor controllers, arduino nano and other similar boards.
+To upgrade the sensors, the recommended system is openplotter, or another linux system with arduino support installed.
+First it is essential to ensure no other processes are accessing the serial port.  For example
+<code>
+sudo service pypilot stop
+sudo service gpsd stop
+</code>
+Other processes such as signalk-node-server or even opencpn (or others) may be configured to access the serial port, so ensure they are not running.
+To install the software needed to compile and load the sketch:
+<code>
+$ sudo apt install arduino
+$ git clone --depth=1 https://github.com/pypilot/pypilot
+$ cd pypilot/arduino/motor
+$ make upload
+</code>
+For pypilot official motor controllers, and cases running over /dev/ttyAMA0 there is no reset ability for upload, so it is essential to apply power to the controller at the precise moment avrdude runs.
+If there is a failure, copy the avrdude command displayed on the console from "make upload" and paste it.  Apply power to the motor controller at the same moment as executing the command.
+If there is a failure, repeat the "make upload" command several times.   It may be necessary to modify the Makefile and adjust the DEVICE or BAUDRATE.   Some boards use a BAUDRATE of 115200, others will use 57600.

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