Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[Ajzride]

That’s kinda what I was getting at. In your video you mentioned were pretty much at the limit of what the ford system is capable of as it was designed for highway use.

Basically I’m asking do you think it’ll ever be able to make a 90 degrees turn from a stop sign or similar.

And if not is that a hardware or software limitation?

No I don’t think we will be able to make 90s and it’s a software limitation.

the active parking and trailer backup command signals have the ability to apply massive amounts of torque and turn the wheel as hard and fast as we need, but Ford blocks those commands above 9mph, which is too slow for turns n

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[FATKID]

Those settings should have had decent lane chagnes after turning of V-TSC. But 3.0 has much less tuning. I would enable advanced lateral control and set your PC blend ratio to 0.75

What are your preferred settings here? Initial drive on 3.0 not as smooth as previous 2.1 settings. Perhaps to be expected given sunny pilot not on there.

I

 

[Ajzride]

What are your preferred settings here? Initial drive on 3.0 not as smooth as previous 2.1 settings. Perhaps to be expected given sunny pilot not on there.

I

Bump your PC blend ratio up to 0.6 or 0.7.

 

[Spiffy]

I got 3.0 installed. Two things I'm missing are the auto speed changing and the positive sound notification when engaging acc. I followed the settings from Ajzride photos on discord. If I were to mimic the way acc was working before what woukd I set?

 

[Spiffy]

I got 3.0 installed. Two things I'm missing are the auto speed changing and the positive sound notification when engaging acc. I followed the settings from Ajzride photos on discord. If I were to mimic the way acc was working before what woukd I set?

Its more important to get the speed control back than anything

 

[Ajzride]

Its more important to get the speed control back than anything

SLC has not been ported to 3.0 yet. You’ll
have to go back to 2.1.

but I thought you were going to use Ford ACC.

 

[Spiffy]

Yes but I was checking out 3.0. How you have your set up looked interesting. I can just go back to 2.1 and wait until it's ported. No problem. Btw I didn't have any problems installing 3.0

 

[Spiffy]

I really like the hybrid monitoring in 3.0.
Not too thrilled with the warnings all the time. Screams at me when I'm going in reverse and lots of hand on the wheel. 2.1 had a really short timing before it triggered eyes. Quick glances away are too short.
I will take the short attention nags over the park nerural reverse alarm. Good

 

[Spiffy]

Does anyone know how the hybrid battery monitor is calculated in 3.0? There is a percentage between 18% and 50%. I know that's not a S.OC. number. The amp draw info is nice and the speed difference between me and the vehicle in front is also nice.
I have to give up 3.0 for now. Need to wait until it's fully ported over.

 

[Ajzride]

As of May 17, 2025, we are updating the way branches are named and how links are generated. We had intially intended to use a branch naming system similar to openpilot and sunnypilot where there was a "stable" or "release" branch which included all fully vetted code, and then "staging" or "beta" branches with new code that would eventually move into the stable/release branches. However as we evolved we found everyone liked being able to bounce between newer and older branches to compare features and control. Moving forwards all releases will simply be named bp-"feature release number" as an example "staging-1.1" which features the bluepilot 1.1 features (custom tuning) will become "bp-1.1". We will not delete older branches so that anyone can go back and view older code for references. Branches that no longer work properly will be denoted as -deprecated.

To install any version of bluepilot, use the following URL formula (URL is case sensitive)

installer.comaa.ai/BluePilotDev/"branch name"

For example

installer.comma.ai/BluePilotDev/bp-2.1

will install the bp-2.1 branch. Branches known to no longer work due to changes in the comma codebase will be apended with -deprecated so it will be obvious they will not install or work correctly.


I also updated the very first post with all of the following information.

==============================================================


Edit May 2025: Installation Videos:







Edit May 2025 Tuning Menu Videos:

Staging-1.1


Staging-2.1



Edit May 2025:

Starting with bp-3.0, there is a bug in the Comma OS software that handles upgrading revisions. It does not appear to be something the BluePilot team can resolve, we have to wait for comma. When you do an upgrade that includes an OS update, the device will hang after the OS update at the comma log. To resolve, you will need to reboot, tap the screen a bunch to trigger a factory reset, then reinstall the SAME BRANCH. After the seocnd install it will work.

 

[Ajzride]

bp-3.1 is available in the branch switcher now or at installer.comma.ai/BluePilotDev/bp-3.1



What changed between 3.0 and 3.1?

-- Updated Agnos (base OS) to 12.1, this is supposed to have better thermal management
-- Brought back the tuning logic from staging-1.1 where you can tune PC/DC separately for straight aways and curves
-- Brought back the tuning logic form staging-1.1 where you can reduce the steering wheel angle requested in larger curves (if you are bouncing off the inside of a long curve, this is a solution)
-- Brought back tuning profiles, except they are automatic now. You will automatically get selected for CAN or CANFD based on your vehicle. You can also switch to Custom.
-- PC/DC blend ratios can now be tuned without having to enable advanced lateral control
-- Advanced lateral control logic for path_angle and path_offset is now almost identical to staging-2.1
-- new sidebar with CPU utilization and temp, GPU utilization and temp, memory utilization.

 

[Spiffy]

Will you be able to post recommendations? I was also having the inside curve bouncing. Not on every inside curve. 50% of the time i stayed centered so what would i adjust? Even in 2.1. Stability on straight aways felt goofy. Like it couldn't decide what the center was. I know that I was running straight stock settings in 1.? It was super stable without touching a single bit of tuning. All these new adjustments are difficult to understand.
Also as I moved up to 2.1 and 3.0 the safety notifications were starting to become bothersome. I couldn't look at my right view mirror or look at my nav screen without getting the pay attention nag. Worst part is alot of times when I got the pay attention notification it wouldn't go away and it disconnected my cruse and i had to reset. Im also getting a lot of keep hands on the wheel nags. I though we didn't have to keep hands on.
As it is right now i am not using my 3x. I feel like if I sneeze I get nagged. These nags are almost as bad as bluecruse.
I know it's not something that bluepilot is responsible for.
Does 1.2 have the increased sensitivity for nags?
Maybe something is not set right.

 

[Ajzride]

Will you be able to post recommendations? I was also having the inside curve bouncing. Not on every inside curve. 50% of the time i stayed centered so what would i adjust? Even in 2.1. Stability on straight aways felt goofy. Like it couldn't decide what the center was. I know that I was running straight stock settings in 1.? It was super stable without touching a single bit of tuning. All these new adjustments are difficult to understand.
Also as I moved up to 2.1 and 3.0 the safety notifications were starting to become bothersome. I couldn't look at my right view mirror or look at my nav screen without getting the pay attention nag. Worst part is alot of times when I got the pay attention notification it wouldn't go away and it disconnected my cruse and i had to reset. Im also getting a lot of keep hands on the wheel nags. I though we didn't have to keep hands on.
As it is right now i am not using my 3x. I feel like if I sneeze I get nagged. These nags are almost as bad as bluecruse.
I know it's not something that bluepilot is responsible for.
Does 1.2 have the increased sensitivity for nags?
Maybe something is not set right.

now that it sets tuning based on detected vehicle, just do a reset on settings (it at the top of the BluePilot menu) and it should put you on what I recommend for an F150.


comma is constantly updating the driver monitoring algorithms and we can’t touch those. Pay attention to your head position for the first 60 seconds of a drive, it calibrates at the start and that becomes the baseline it measures you against.

I’ve not had any problems with driver monitor on the new branches.

 

[Spiffy]

I comma is always changing the safety settings are they the old way in BP 1.2?

 

[Ajzride]

I comma is always changing the safety settings are they the old way in BP 1.2?

2.1 still uses the old safety monitor, but I can't rule out they find a way to block using older models somehow.f

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