mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-09-30 17:03:41 +08:00
Jason Wen
f588a0367b
# Conflicts: # panda # selfdrive/car/chrysler/values.py # selfdrive/car/ford/carstate.py # selfdrive/car/ford/interface.py # selfdrive/car/ford/values.py # selfdrive/car/interfaces.py # selfdrive/car/nissan/values.py # selfdrive/car/subaru/interface.py # selfdrive/car/volkswagen/interface.py # selfdrive/car/volkswagen/values.py # selfdrive/controls/radard.py # selfdrive/manager/process.py # selfdrive/modeld/modeld.py
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/