heur-nav-rules 0.1.3

Rule-based navigation command from detections; protocol-agnostic (map output to MAVLink or your system).

heur-nav-rules

heur-nav-rules is a Python library that converts vision detections into a simple navigation command.

Input: detections + rules JSON
Output: heading + speed scale (+ diagnostics)

Install

pip install heur-nav-rules

For local development:

pip install -e ".[dev]"

Usage

from pathlib import Path
from nav_rules import load_config, compute_navigation, Detection

config = load_config(Path("config_examples/example_rules.json"))
detections = [
    Detection(label="person", confidence=0.9, center_x=160, center_y=120, area_ratio=0.05),
]
cmd = compute_navigation(detections, config, frame_wh=(320, 240))
print(cmd.heading_command_deg, cmd.speed_scale, cmd.goal_visible)

What you provide

• Detections: label, confidence, center_x, center_y, optional area_ratio, source.
• Config: rules JSON (goal classes, obstacle classes, sectors, blending).
• Details: docs/api.md, docs/rules_format.md.

What you get

NavigationCommand with:

• heading_command_deg
• speed_scale
• avoid_side
• goal_visible
• selected_goal
• heading_to_goal_deg
• obstacle_scores

Map this output to MAVLink, ArduPilot, PX4, or your own controller.

Rule editor

A GUI lets you create and edit rules without writing JSON by hand. Run the editor, fill the form (goal classes, obstacle classes, blending, etc.), then save to generate a rules JSON file.

pip install ".[gui]"
nav-rules-edit                    # new config (defaults)
nav-rules-edit path/to/rules.json # open and edit existing
# or
python -m nav_rules.gui [path]

In the window: use Open to load a JSON file, Import to load rules and merge with defaults for missing fields (useful when fixing or upgrading existing rules), New to reset to defaults, Validate to check the form, and Save as JSON... to write the config. See docs/editor.md for the workflow.

License

MIT. See LICENSE.