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free autopilot for sailboats using signalk written in python
This project forked from pypilot/pypilot
free autopilot for sailboats using signalk written in python
Installing: The dependencies can be installed with "apt install" or sometimes 'pip install" server dependencies (required): python-gps python-serial libpython-dev python-numpy python-scipy swig lcdclient dependencies: python-pillow webapp dependencies: python-flask client dependencies (viewers control applications) python-opengl python-pip sudo pip install pyglet sudo pip install pywavefront # correct a bug in pywavefront typically in /usr/local/lib/python2.7/dist-packages/pywavefront +++ material.py 2017-10-30 19:43:53.288141444 +0000 @@ -100,6 +100,7 @@ glMaterialfv(face, GL_AMBIENT, self.gl_light(self.ambient)) glMaterialfv(face, GL_SPECULAR, self.gl_light(self.specular)) glMaterialfv(face, GL_EMISSION, self.gl_light(self.emissive)) + self.shininess = min(128, self.shininess) glMaterialf(face, GL_SHININESS, self.shininess) if self.gl_floats is None: sudo pip install ujson wxwidgets client dependencies: python-opengl python-pip # for the calibration program also: pip install pyglet pip install pywavefront # my version of rtimulib is required! git clone https://github.com/seandepagnier/RTIMULib2 cd RTIMULib2/Linux/python python setup.py build sudo python setup.py install You may want to run pypilot as a service, see the scripts/debian directory install: sudo pip install PyOpenGL sudo apt-get install python-numpy python-scipy 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) pypilot/simple_autopilot.py -- classic PID based autopilot implementation pypilot/basic_autopilot.py -- basic PID based autopilot with additional gains and filters These server scripts can be run as tests: * execute this script directly signalk/server.py -- implements poll based server allowing external manipulation, * basic demo server with clock signalk/pipeserver.py -- implements tcp sockets in a separate unix process relieving the main process from json parsing, and transmission. * basic demo server pypilot/boatimu.py -- specialized 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/nmea.py -- signalk <-> nmea0183 translator reads nmea0183 from serial ports or from tcp connections, and multiplexes the output to both nmea0183. * convert and multiplex nmea0183 data pypilot/servo.py -- controls servo via RC pwm signal, and gpio feedback for fault * use to test or verify a working servo is detected, can be used to control or calibrate the servo clients (run as many of these): ui/autopilot_control.py -- simple interface to command autopilot ui/autopilot_calibration.py -- interactive gui for all autopilot calibrations ui/kivy -- work in progress kivy control app signalk/client.py -- console client signalk/client_wx.py -- graphical user version (wx widgets) signalk/scope.py -- glut plot client -- useful for sensors and control signalk/scope_wx.py -- plot client with wx widgets (for checked listbox) lcd/client.py -- autopilot control interface using GPIO pins. webapp/webapp.py -- python flask application that runs a webserver providing remote autopilot control through a browser
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