mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-15 06:33:43 +08:00
Jason Wen
ccfb7ff153
# Conflicts: # panda # selfdrive/car/chrysler/values.py # selfdrive/car/ford/values.py # selfdrive/car/hyundai/hyundaican.py # selfdrive/car/hyundai/interface.py # selfdrive/car/toyota/interface.py # selfdrive/car/toyota/values.py # selfdrive/controls/controlsd.py # selfdrive/controls/plannerd.py # selfdrive/sentry.py # selfdrive/ui/qt/offroad/settings.cc
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/