dragonpilot

mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-02-25 01:53:52 +08:00

Files

Mitchell Goff 5ab2fc16ab model_replay: use last N frames of segment so navRoute is valid (#26790 )

* model_replay: use last N frames of segment so navRoute is valid

* Use llk logMonoTime for MapRenderState.locationMonoTime

* Record mapRenderState

* update refs

Co-authored-by: Comma Device <device@comma.ai>

2022-12-20 14:19:21 -08:00

__init__.py

navd: rewrite in python (#24621 )

2022-05-30 15:15:51 +02:00

.gitignore

navd: add back VisionIPC map renderer (#25212 )

2022-07-19 16:57:13 +02:00

helpers.py

navd: broadcast sped limit (#24681 )

2022-06-03 15:07:04 +02:00

main.cc

navd: include hw.h fix (#25297 )

2022-07-27 17:43:06 +02:00

map_renderer.cc

model_replay: use last N frames of segment so navRoute is valid (#26790 )

2022-12-20 14:19:21 -08:00

map_renderer.h

navmodel: check images in replay test (#26747 )

2022-12-09 22:56:32 -08:00

map_renderer.py

nav: add polyline helpers (#26816 )

2022-12-16 21:46:07 -08:00

navd.py

navd: recompute if far for > 3 steps (#26798 )

2022-12-15 10:51:21 -08:00

README.md

nav: add README (#26802 )

2022-12-14 17:17:25 -08:00

SConscript

nav: build map renderer python lib by default (#26770 )

2022-12-12 12:56:33 -08:00

set_destination.py

nav: add setting for extra coordinates to specify route (#26803 )

2022-12-14 18:48:39 -08:00

style.json

Added updateZoom function to map_renderer, plus custom style.json (#25997 )

2022-10-13 14:27:59 -07:00

README.md

This directory contains two daemons, navd and map_renderer, 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_TOKEN environment variable
routes/destinations are set through the NavDestination param
- use set_destination.py for debugging
edit the map: https://www.mapbox.com/contribute
mapbox API playground: https://docs.mapbox.com/playground/