pypilot / Pypilot

Installing:

The dependencies can be installed with 'apt install' or sometimes 'pip install"

server dependencies (required): RTIMULIB2 python-gps python-serial libpython-dev python-numpy python-scipy swig (recommended): ujson pyudev

RTIMULIB2 must be the git version from https://github.com/seandepagnier/RTIMULib2 git clone https://github.com/seandepagnier/RTIMULib2 cd RTIMULib2/Linux/python/ sudo python3 setup.py install

hat dependencies: python-pil web dependencies: python-flask python-gevent-websocket

client dependencies (viewers control applications) apt: python-wxgtk3.0 python-opengl or python3-wxgtk4.0 python3-opengl pip: pyglet pywavefront

You may want to run pypilot as a service, see the scripts/debian directory

Clone the data repository and copy data:

git clone https://github.com/pypilot/pypilot git clone --depth 1 https://github.com/pypilot/pypilot_data cp -rv pypilot_data/* pypilot

Build and install pypilot:

cd pypilot python setup.py build sudo python setup.py install

most of the scripts can be run individually as standalone or test programs, some function as clients, other as servers

servers (only one executes at a time)

These server scripts can be run as tests:

• execute this script directly

pypilot/autopilot.py -- autopilot

instead of running the complete autopilot these scripts provide a server with specific functionallity.

pypilot_boatimu -- imu specific to boat motions includes automatic 2d/3d calibration and alignment of magnetic sensors * useful for testing the imu (gyros) or even just reading gyros

pypilot_sensors -- test sensor inputs only reads nmea0183 from serial ports or from tcp connections, and multiplexes the output to both nmea0183. listed on tcp port 20220 by default * convert and multiplex nmea0183 data

pypilot_servo -- use to test or verify a working motor controller is detected, can be used to control and calibrate the servo

clients (run as many of these to connect to a server):

pypilot_control -- simple interface to command autopilot pypilot_calibration -- interactive gui for all autopilot calibrations pypilot_kivy -- work in progress kivy control app pypilot_client_wx -- graphical client (wx widgets) pypilot_scope -- plot client with wx widgets (for checked listbox)

pypilot_client -- console client

pypilot_hat -- autopilot control interface using GPIO pins, with web configuration on port 33333 pypilot_web -- python flask application for browser autopilot control