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dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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dragonpilot/selfdrive/navd
Shane Smiskol cbde480cb9
navd: add repr method to Coordinate (#28959) 		2 years ago
..
.gitignore Rename map_renderer -> mapsd (#28580) 2 years ago
README.md Rename map_renderer -> mapsd (#28580) 2 years ago
SConscript Rename map_renderer -> mapsd (#28580) 2 years ago
__init__.py navd: rewrite in python (#24621) 3 years ago
helpers.py navd: add repr method to Coordinate (#28959) 2 years ago
main.cc seldrive: use common sig handler (#28127) 2 years ago
map_renderer.cc nav model: fix flicker in nav enabled state (#28815) 2 years ago
map_renderer.h Always publish from mapsd (#28581) 2 years ago
map_renderer.py Render map at 256x256 and don't crop (#28101) 2 years ago
navd.py navd: check duration_typical before using (#27184) 2 years ago
set_destination.py nav: add setting for extra coordinates to specify route (#26803) 2 years ago
style.json Added updateZoom function to map_renderer, plus custom style.json (#25997) 3 years ago

README.md

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.