originally I had thought this was an ssh issue,
however I have now plugged a keyboard directly into the RPi, same result.
from the web found: check the X11 configuration and your video driver.
but not clear what I might do...
RTIMULibDemoGL
QGLTempContext: No GL capable X visuals available.
Settings file RTIMULib.ini loaded
Using fusion algorithm RTQF
Using min/max compass calibration
Ellipsoid compass calibration not in use
Using accel calibration
Segmentation fault