pypilot is free software
pypilot can run on a variety of systems and hardware configurations.
Typical setups include openplotter or tinypilot
Block diagrams here
Disk images are available for openplotter and tinypilot simplifying installation.
For other systems:
git clone https://github.com/pypilot/pypilot Refer to README for installation instruction
For the autopilot to work correctly the [inertial sensors] must be calibrated.
First, the accelerometers may be calibrated. To calibrate, hold the sensors still for a few seconds in each side of the box until calibrated. video link
Next, the IMU must be leveled to the boat. When it is mounted and secured to the vessel, level the sensors.
Last, the compass which can change widely depending on where it is mounted and what is around it must be calibrated. There are two possible results, 2D and 3D calibration. If the boat makes a flat circle, only 2D calibration is possible.
With 2D compass calibration, the heading is only accurate when level.
With 3D calibration is accurate when pitching and rolling.
To get a 3D calibration suggestions: * Sail in a circle tacking through the wind with sufficient heeling angle until calibrated * Get crude 3d compass calibration before fixing to boat. Then make circle, and 2d calibration updates 3d calibration.
- mpu9250/mpu9255 – With yellow capacitor the accelerometer is already biased, with orange capacitor accelerometer bias calibration needed. - LSM9DS0 (seems ok) - L3GD20H, LSM303D (seems ok)