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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. Typically this is just an offset or bias for each of the sensors.
The gyroscopes continuously automatically update their bias, and many sensors have accurate accelerometer bias leaving the compass which can change widely depending on where it is mounted and what is around it.
mpu9250/mpu9255 – With yellow capacitor the accelerometer is already biased, with orange capacitor accelerometer bias calibration needed.