If pypilot fails to run properly, it is possible to get much more debugging information.

First completely disable the autotpilot from the openplotter gui.

<code>w
$ ps aux | grep python
</code>
Make sure there is no pypilot running.  You can usually kill it with
<code>
$ killall python3
</code>
Take care because this command will kill all python processes
On tinypilot ensure it doesn't respawn:
<code>
sudo sv d pypilot
</code>
On openplotter:
<code>
sudo service pypilot stop
</code>
Verify pypilot is not running:
<code>
ps aux | grep python
</code>

Now, to test only the imu sensors to ensure they are working correctly
<code>
$ pypilot_boatimu
</code>

You should see pitch roll yaw working.  Stop with Ctrl-c

To test the motor controller
<code>
$ pypilot_servo
</code>
You should see voltage current etc.  Stop again with Ctrl-c

Finally, try
<code>
$ pypilot
</code>

If there are still no errors the autopilot should be working.  Leaving this command running, in another terminal try:
<code>
$ pypilot_control
$ pypilot_calibration
</code>

If these fail to connect for some reason, pass them 127.0.0.1 (one
time should be enough after that they remember)
<code>
$ pypilot_calibration 127.0.0.1
</code>

Report any errors or issues to the [[http://forum.openmarine.net/forumdisplay.php?fid=17|forum]]