fix for import

install-scripts-patch1/4-server/02-pypilot.sh

@@ -1,3 +1,5 @@
 #!/bin/bash -e
 
 install -v -o pypilot -g pypilot -m 0644 $FILE_FOLDER/blacklist_serial_ports "/home/pypilot/.pypilot/"
+
+cp $FILE_FOLDER/wind.py "$(find /usr/local/lib -name wind.py)"

install-scripts-patch1/4-server/files/wind.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+#
+#   Copyright (C) 2019 Sean D'Epagnier
+#
+# This Program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public
+# License as published by the Free Software Foundation; either
+# version 3 of the License, or (at your option) any later version.
+
+from pypilot.autopilot import resolv
+from pilot import AutopilotPilot, AutopilotGain
+from pypilot.values import *
+
+# the wind pilot does not require a compass but does require a wind sensor.
+# it does not rely on the compass or calibration (unless in compass mode)
+# and is not affected by magnetic changes.   Even in compass mode this pilot
+# will follow wind shifts and only hold the general compass course
+
+class WindPilot(AutopilotPilot):
+  def __init__(self, ap):
+    from pypilot.autopilot import HeadingOffset
+    super(WindPilot, self).__init__('wind', ap)
+
+    # create filters
+    self.gps_wind_offset = HeadingOffset()
+
+    self.last_wind_speed = 0
+
+    # create simple pid filter
+    self.gains = {}
+
+    self.PosGain('P', .003, .02)  # position (heading error)
+    self.PosGain('I', 0, .1)      # integral
+    self.PosGain('D', .1, 1.0)   # derivative (gyro)
+    self.PosGain('DD', .05, 1.0)  # position root
+    self.Gain('WG', 0, -.1, .1)  # wind gust
+
+  def compute_heading(self):
+    ap = self.ap
+    # compute the difference from wind to other headings
+    wind = self.ap.wind_direction.value
+    compass = self.ap.boatimu.SensorValues['heading_lowpass'].value
+
+    sensors = self.ap.sensors
+    wind = sensors.wind.direction.value
+
+    if sensors.gps.source.value != 'none':
+      gps_track  = sensors.gps.track.value
+      # difference from gps to wind
+      if gps_speed > 1:
+        d = .005*math.log(gps_speed + 1)
+        self.gps_wind_offset.update(wind + gps_track, d)
+
+    mode = ap.mode.value
+    if mode == 'compass':
+      # compute compass from the wind. this causes the boat
+      # to follow wind shifts with an overall average compass course
+      compass = resolv(ap.wind_compass_offset.value - wind, 180)
+      ap.heading.set(compass)
+    elif mode == 'gps':
+      gps = resolv(self.gps_wind_offset.value - wind, 180)
+      ap.heading.set(gps)
+    elif mode == 'true wind':
+      true_wind = autopilot.compute_true_wind(ap.gps_speed,
+                                              sensors.wind.speed, wind)
+      ap.heading.set(true_wind)
+
+    elif mode == 'wind':
+      ap.heading.set(wind)
+
+  def best_mode(self, mode):
+      sensors = self.ap.sensors
+      nocompass = self.ap.boatimu.SensorValues['compass'] == False
+      nogps = sensors.gps.source.value == 'none'
+
+      if mode == 'compass':
+        if nocompass:
+          return 'wind'
+      else:
+        if nogps: # if gps drops out switch to wind mode
+          return 'wind'
+
+      return mode
+
+  def process(self):
+    ap = self.ap
+
+    if ap.sensors.wind.source.value == 'none':
+        ap.pilot.set('basic') # fall back to basic pilot if wind input fails
+        return
+
+    # compute command
+    headingrate = ap.boatimu.SensorValues['headingrate_lowpass'].value
+    headingraterate = ap.boatimu.SensorValues['headingraterate_lowpass'].value
+    windgust = ap.sensors.wind.speed - self.last_wind_speed
+    self.last_wind_speed = ap.sensors.wind.speed
+    if ap.sensors.wind.direction < 0:
+      windgust = -windgust
+    gain_values = {'P': self.heading_error.value,
+                   'I': self.heading_error_int.value,
+                   'D': headingrate,
+                   'DD': headingraterate,
+                   'WG': windgust}
+
+    command = self.Compute(gain_values)
+
+    if ap.enabled.value:
+      ap.servo.command.set(command)
+
+pilot = WindPilot