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open source driving agent
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jyoung/selfdrive/navd
Adeeb Shihadeh 1cc4f1a634
new msgs default to invalid (#30587) 		2 years ago
..
tests Pytest: tici mark for skipping on-device tests (#30412) 2 years ago
.gitignore
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README.md
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SConscript Mapsd: move on the CPU (#30349) 2 years ago
__init__.py
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helpers.py add openpilot prefix to imports (#29498) 2 years ago
main.cc allow onscreen cpu rendering (#30510) 2 years ago
map_renderer.cc map renderer: only log map states once fully loaded (#29722) 2 years ago
map_renderer.h map renderer: only log map states once fully loaded (#29722) 2 years ago
map_renderer.py add openpilot prefix to imports (#29498) 2 years ago
navd.py new msgs default to invalid (#30587) 2 years ago
set_destination.py add openpilot prefix to imports (#29498) 2 years ago
style.json
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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.