mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-22 00:33:44 +08:00
Adeeb Shihadeh
1cc4f1a634
* new msgs default to invalid * fix lm * set more valid * update rest * update refs * fix logMessage * more valids * cleanup * fix llk test * pigeond is also valid * more valids old-commit-hash: a1d36961cf9fa0c6a9c41fe92d6504de5d36cbaa
navigation
This directory contains two daemons, navd and mapsd, which support navigation in the openpilot stack.
navd
navd takes in a route through the NavDestination param and sends out two packets: navRoute and navInstruction. These packets contain the coordinates of the planned route and turn-by-turn instructions.
map renderer
The map renderer listens for the navRoute and publishes a rendered map view over VisionIPC for the navigation model, which lives in selfdrive/modeld/. The rendered maps look like this:
development
Currently, mapbox is used for navigation.
- get an API token: https://docs.mapbox.com/help/glossary/access-token/
- set an API token using the
MAPBOX_TOKENenvironment variable - routes/destinations are set through the
NavDestinationparam- use
set_destination.pyfor debugging
- use
- edit the map: https://www.mapbox.com/contribute
- mapbox API playground: https://docs.mapbox.com/playground/