Installation
Last updated
Last updated
This chapter explains how to install your tiller pilot
These activities shall be performed through Serial I/F and before installing Autopilot into boat,
Install serial terminal
Connect Autopilot to Laptop/PC
Connect Autopilot to a 12V source (battery or alternative)
Prerequisites: Depending on the IMU device used, calibration procedure can slightly change.
MinIMU9V5 requires to start procedure with correct axis orientation. IMU Device components shall be on the top before starting Compass calibration.
BNO055 IMU Internal Sensor Fusion nothing specific to be taken into account.
BNO055 IMU External Sensor Fusion calibrates dynamically and do not require calibration.
In Virtuino App, enter into Compass calibration screen and press Start Calibration button,
From Virtuino App, enter into Compass calibration mode.
BNO055 IMU Internal Sensor Fusion: To calibrate follow the steps:
Gyroscope Calibration: Place the device in a single stable position to allow the gyroscope to calibrate. Keep this position for a period of few seconds until GYRO register indicates fully calibrated.
Accelerometer Calibration: Place the device in 6 different stable positions for a period of few seconds to allow the accelerometer to calibrate. Repeat until
the ACC register indicates fully calibrated.
Magnetometer Calibration: Make some random movements (for example: writing the number ‘8’ on air) until the MAG register indicates fully calibrated.
MinIMU9V5: To calibrate follow the steps:
Gyroscope and Accelerometer Calibration: Place the device in a single stable position, with device components on top, to allow the gyroscope and Accelerometer to calibrate. Keep this position for a period of few seconds until GYRO and ACC registers indicate fully calibrated.
Magnetometer Calibration: Make some random movements (for example: writing the number ‘8’ on air) until the MAG register indicates fully calibrated.
Verify Calibration: Autopilot will automatically exit Calibration mode after a reasonable time after calibration of each sensor. User shall make additional random movements to cover all different yaw, pitch and roll angles. Make smooth and fast movements. Make movements until MAG register is stable.
Calibration Verification result,
Once the compass is calibrated and values saved, the calibration profile will be reused to get the correct orientation data immediately after Power-on Autopilot.
Make sure that there is slow movement between 2 stable positions
The 6 stable positions could be in any direction, but make sure that the device is lying at least once perpendicular to the x, y and z axis.
Magnetometer in general are susceptible to both hard-iron and soft-iron distortions, but majority of the cases are rather due to the former. And the steps mentioned below are to calibrate the magnetometer for hard-iron distortions. Nevertheless certain precautions need to be taken into account during the positioning of the sensor to avoid unnecessary magnetic influences.
BNO055 IMU Internal Sensor Fusion: You can find below a Video tutorial by IMU BNO055 Manufacturer.
From Virtuino App, enter Linear actuator screen and press Start Calibration.
Press "Right Arrow" button extend linear actuator up to the complete extension of the linear actuator.
Press "Left Arrow" button to retract linear actuator up to the complete retraction of the linear actuator.
Press "Save" button to save linear actuator offsets
Exit calibration screen pressing "Tick" button.
Pypilot installed and calibrated
Select Only compass
Select Tab connections and create connection to Signal K as proposed.
Open Signal K server
Select Plugin Config
Enable plugin "Convert Signal K to NMEA0183". Enabled: YES
Connect Fenix autopilot to an USB port
Open Serial application
Serial Devices: /dev/ttyOP_fenix
data:NMEA0183
Apply Remember device
In the Connections tab, 2 serial connection are displayed, First from Device Fenix Autopilot and second from OpenCPN:
Device /dev/ ttyACM0 alias /dev/: ttyOP_fenix data:NMEA0183
Device /dev/ ttyACM0 alias /dev/: data:NMEA0183 Connection: OpenCPN bauds 960
Set up additional data connections:
Signal K (set up by default)
Priority: 4
Serial I/O Protocol:
NMEA 0183
port: /dev/ttyACM0
4800 baud
Priority: 7
Select "Exit as autopilot or NMEA repeater"
Talker ID: EC
APB precision: x.xx.
Input filter: Accept only sentences: APHDM, APRSA, IIVWR, GP
Output filter: Transmit sentences: IIHDM, ECAPB, IIVWR
Network I/O Protocol: TCP (Optional, to use Pypilot as external IMU).
Address: localhost
port: 10110
Select Exit as autopilot or NMEA repeater.
Talker ID: EC
APB precision: x.xx.
Input filter: HDM, VWR
Output filter: Transmit sentences: IIHDM, IIVWR
