Pypilot controller

This is a M5Dial controller for PyPilot.

It makes a TCP connection to the PyPilot at port 23322 and opens a BLE service to configure :

• Network
• Password

There are 2 more characteristics

• Command : Writable, you may send commands
• State : Readable, Notify sends state

Will translate commands receive from Command to Pypilot commands and send in state pypilot data as :

• Heading
• Command
• Rudder Angle
• PyPilot Mode
• Engaged / Not Engaged

Allowing to write BLE controllers that don't need a TCP connection to PyPilot

Use and configuration

Service for configuration and use is

Service f85015df-6af5-4ee3-a8cb-a8f7250d4466

First we must give the controller the ssid and password of the network writing :

• Characteristic bea80929-aa42-4641-a0c2-8f08b70e0aaa ssid
• Characteristic 22643f77-dcfd-4e01-9b9f-bb63692a215f password

It should lookup for pypilot with mDNS. If changint ip push the encoder button when powering up and will clear old host and lookup for a new one.

When connects shows a screen with the 4 modes (Compass, gps, wind, true wind) and a center rudder button. They may be selected just by clicking or selecting with the encoder an clicking the encoder button.

In rudder you manage the rudder by turning the encoder to the desired rudder angle. Tap in the center will reset rudder to 0.

In other modes it shows the Heading in the center, an editable desired heading at top, the mode and two arrows for the tack.

Just move the encoder till top field show desired angle. When you stop tmoving the encoder, the order will be sent to pypilot.

If tapping the mode, it turns red and encoder may be used to change it tapping when the desired mode is shown.

Of course only acceptable modes will be accepted by pypilot depending it's hardware and conections.

Long pressing an arrow turns it red and starts tacking in the direction of the arrow. A tap everywhere cancels the tacking.

A click in the encoder button goes back to the main screen.

BLE Gateway

The M5Dial also has characteristics

• Characteristic 02804fff-8c38-485f-964a-474dc4f179b2 Command (writable)
• Characteristic de7f5161-6f48-4c9a-aacc-6079082e6cc7 State (readable, notify)

Usually an application subscribes to State and sends commands to command.

State

Messages received from State are composed by a first letter (type) and the rest are parameters.

Types of message are

• E : Engaged

• D : Disengaged

• H : Heading

• R : Rudder Angle

• C : Command

• M : Mode where is:

  • 0 -> Compass
  • 1 -> Gps
  • 2 -> Wind
  • 3 -> True Wind
  • 4 -> Manual / Rudder control

• T : Tack State where is:

  • 0 -> none, no tacking
  • 1 -> begin
  • 2 -> waiting
  • 3 -> tacking

• U : Tack Direction where is:

  • -1 -> Port
  • 0 -> None
  • 1 -> Starboard

Commands

Commands are sent with a string where the first letter is the command and the rest parameters

• E -> Engage
• D -> Disengage
• C -> Set Command to
• M -> Set Mode. See modes before
• TP -> Tack port
• TS -> Tack Starboard
• X -> Cancel Tack
• RP -> Rudder to Port (value 1.0)
• RS -> Rudder to Starboard (value 1.0)
• Z -> Set rudder angle to