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tonesto7 a97cdb588a
Merged in experimental (SP 2024.06.05-1964) (#8) 
* sync with alan-polk/dev-c3-app

* updated readme.md

* udpates to readme

* new image

* removed dead links

* fix typo in utilize

* no lane change smoothing in a curve

* updated logo

* add back support sunnypilot to readme.md

* updated lane change logic

* updated tuning on lane change modifiers

* 0.5 on right lane changes

* right is positive in comma world

* updated lane change tuning

* self.right_lc_modifier = 0.80

* self.right_lc_modifier = 0.70

* apply curvature limits after all calculations instead of before.

* use absolute value of apply_curvature when detecting lane change.

* if steeringPressed and abs(steeringAngleDeg) > 45:

* Merged in sunnypilot v2024.05.24-1822

* Fixed 23-24 Escape carname in sunnypilot_carname.json

* fixed missing torque data override for FORD_ESCAPE_MK4_23REFRESH

* additional LMC2 variables.

* bp readme.md

* Fixed issues with explorer mk6 after recent merge

* Merged in latest sp-dev changes into experimental

* create desired_curvature as a calculated value

* Only apply curvature limits once (#6)

* Only apply curvature limits once

* create immediate_curvature.

* safety limits before lane changes

* Merged SP Dev 2024.06.05-1964

---------

Co-authored-by: alan-polk <56047663+alan-polk@users.noreply.github.com>
 		2024-06-08 11:01:21 -04:00
..
tests Merged in experimental (SP 2024.06.05-1964) (#8) 2024-06-08 11:01:21 -04:00
tpl sunnypilot v2024.04.30-1666 2024-04-30 20:59:55 +00:00
.gitignore sunnypilot v2024.04.30-1666 2024-04-30 20:59:55 +00:00
README.md Merged in experimental (SP 2024.06.05-1964) (#8) 2024-06-08 11:01:21 -04:00
SConscript sunnypilot v2024.04.30-1666 2024-04-30 20:59:55 +00:00
__init__.py sunnypilot v2024.04.30-1666 2024-04-30 20:59:55 +00:00
helpers.py sunnypilot v2024.04.30-1666 2024-04-30 20:59:55 +00:00
libmaprender.so Merged in experimental (SP 2024.06.05-1964) (#8) 2024-06-08 11:01:21 -04:00
map_renderer.h sunnypilot v2024.04.30-1666 2024-04-30 20:59:55 +00:00
map_renderer.py Merged in experimental (SP 2024.06.05-1964) (#8) 2024-06-08 11:01:21 -04:00
mapsd Merged in experimental (SP 2024.06.05-1964) (#8) 2024-06-08 11:01:21 -04:00
navd.py Merged in experimental (SP 2024.06.05-1964) (#8) 2024-06-08 11:01:21 -04:00
otisserv.py sunnypilot v2024.04.30-1666 2024-04-30 20:59:55 +00:00
set_destination.py sunnypilot v2024.04.30-1666 2024-04-30 20:59:55 +00:00
style.json sunnypilot v2024.04.30-1666 2024-04-30 20:59:55 +00:00

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 simplified rendered map view over VisionIPC. The rendered maps look like this:

development

Currently, mapbox is used for navigation.