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run sudo nano /etc/xdg/lxsession/LXDE-pi/autostart
Insert @iceweasel "http://localhost:5000/" to the list
Now press Ctrl+X, then Y and enter to save the changes
Open Iceweasel (To open Iceweasel goto Applications > Internet)
Type in about:config in the address field and hit enter. Now find the browser.sessionstore.resume_from_crash line and double click to change it to false.
Go into fullscreen mode
Reboot and iceweavel should connect directly and in fullscreen