pypilot_scripts
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pypilot_scripts [2019/07/25 14:32] seandepagnier created |
pypilot_scripts [2019/07/25 14:36] seandepagnier |
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| - | * 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: 2019/10/02 13:07 by 174.226.13.56
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