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pypilot_scripts [2019/07/25 14:32]
seandepagnier created
pypilot_scripts [2019/07/25 14:36] (current)
seandepagnier
Line 15: Line 15:
  
  
-  ​* pypilot_servo +  - [[pypilot_servo]
- +  ​- [[pypilot_boatimu]] 
-For testing just the motor controller, it can be useful to execute the servo script: +  - [[pypilot_nmea]] 
-pypilot_servo or pypilot/​servo.py +  ​- [[pypilot]]
- +
-This connects to the motor controller and will output the voltage and other measurements to the console when it works. ​  ​Otherwise it will try to detect a motor controller and with no output indicates the controller is not found. +
- +
-<​code>​ +
-pi@openplotter:​~ $ pypilot_servo +
-Servo Server +
-loading servo calibration /​home/​pi/​.pypilot/​servocalibration +
-WARNING: using default servo calibration!! +
-connected to gpsd +
-nmea poll times 0.298720121384 8.20159912109e-05 1.28746032715e-05 8.10623168945e-06 6.60419464111e-05 +
-arduino servo found on [u'/​dev/​ttyAMA0',​ 38400] +
-serialprobe success: /​home/​pi/​.pypilot/​servodevice ​[u'/​dev/​ttyAMA0',​ 38400] +
-voltage: 12.76 current 0.0 ctrl temp 23.26 motor temp False rudder pos False flags SYNC  +
-voltage: 12.76 current 0.0 ctrl temp 23.25 motor temp False rudder pos False flags SYNC  +
-voltage: 12.75 current 0.0 ctrl temp 23.28 motor temp False rudder pos False flags SYNC  +
-voltage: 12.76 current 0.0 ctrl temp 23.28 motor temp False rudder pos False flags SYNC  +
-voltage: 12.76 current 0.0 ctrl temp 23.28 motor temp False rudder pos False flags SYNC  +
-voltage: 12.76 current 0.0 ctrl temp 23.28 motor temp False rudder pos False flags SYNC  +
-</​code>​ +
- +
- +
-  ​pypilot_boatimu +
- +
-For testing just 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 the pypilot_calibration can be used. +
- +
- +
-  * pypilot_nmea +
- +
-To test nmea connections,​ and also to relay nmea data between tcp port 20220 and any nmea serial devices connected +
- +
- +
-  ​pypilot +
- +
-This runs the full autopilot which includes all of the above services as well as the autopilot control loop+
  
  
pypilot_scripts.txt · Last modified: 2019/07/25 14:36 by seandepagnier