Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[Ajzride]

Will you tell me the wire colors coming out of the steering encoder? I tried to pause the video.
I think I can help figure how the data is sent.
Analog or PWM or a hybrid of both.
I also suspect you will find only 5 volts supplying the encoder. Becides a multi meter you will need a oscope.
This should be easy to figure out.
I'm suspecting analog for position and PWM for speed. A typical torque sensor uses analog. There should be a torque sensor.

I haven't removed the sheathing around the wire yet, so I don't know what color the wires are. it will be a few weeks before I can dig the unit out of the corner it's stuffed in while I repaint a car. My AI coding assistant thinks that it will be redundant PWM torque signals, based on the firmware dump we are decoding.

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[PNGento]

I am thinking of trading my 2nd vehicle, which is currently a 2018 Jeep Grand Cherokee. My preference would be to stay with a Ford/Lincoln. BUT, whatever I get must be compatible with C3x. Don't really need a 2nd F150, but both myself and the wife love our current F150, so a 2nd 150 wouldn't be an issue. But, also thinking along the lines of the Lincoln Nautilus. I don't see the Nautilus mentioned on Comma 3x site, so can anyone tell me does this mean it is NOT compatible? If another F150 were to be my second choice, would a '22 or '23 F150 Powerboost be perfectly suitable? My last choice would be to go outside the Ford family. Does anyone know WHICH vehicle (any brand) would be MOST compatible with Comma 3x and/or give the best hands-free driving experience?

Any reason to think a hybrid F150 would be any less enjoyable to operate with the C3x than with my '22 Ecoboost F150 Lariat?

Finally, we know that the C3x isn't compatible with the '24 onward 150's due to encryption issues. Again, among OTHER brands, are there some brands whereby encryption is not at play such that new 2024/5 models are still very compatible?

 

[Ajzride]

I don't see the Nautilus mentioned on Comma 3x site, so can anyone tell me does this mean it is NOT compatible?

For a Lincoln vehicle, just lookup the ford equivalent for the same year. So for a Nautilus look up an Edge.

You will not find Edge as a supported vehicle because it has some odd canbus signals, however it is supported by BluePilot.

You could also consider having an EV as a second vehicle. My wife has a MachE and it is the perfect compliment to my F150. We can go anywhere we want around town and never need to stop for gas. Anytime we need to go more than 200 miles round trip, we jump in the truck. We charge it every night and its always ready to go the next morning. 2021 - 2024 MachE are compatible.

If another F150 were to be my second choice, would a '22 or '23 F150 Powerboost be perfectly suitable?

Yes.

My last choice would be to go outside the Ford family. Does anyone know WHICH vehicle (any brand) would be MOST compatible with Comma 3x and/or give the best hands-free driving experience?

Hyundai / Kia / Genesis vehicles are genearlly considered to have the best Comma experience.

Any reason to think a hybrid F150 would be any less enjoyable to operate with the C3x than with my '22 Ecoboost F150 Lariat?

Nope, it's identical.

Finally, we know that the C3x isn't compatible with the '24 onward 150's due to encryption issues. Again, among OTHER brands, are there some brands whereby encryption is not at play such that new 2024/5 models are still very compatible?

Hyundai / Kia / Genesis, Some Subaru, Most VW, Rivian.

 

[nitrobass24]

Alright just did my first drive, about 21 miles. Man it’s awesome but I’m lost on some settings and maybe it’s because I’m on 2.1?

How do I get lane change without steering wheel nudge?
Also experimental mode is greyed out. Do I have to put in a certain amount of miles to get this to become available?

 

[Ajzride]

How do I get lane change without steering wheel nudge?

Menu --> SunnyPilot --> customize lane changes

Also experimental mode is greyed out. Do I have to put in a certain amount of miles to get this to become available?

Menu --> Toggles --> openpilot longitudinal control

 

[nitrobass24]

Ok wow so this is all really impressive. Super appreciative of all the work @Ajzride has put into this.

2.1 out of the box works really well, its like bluecruise everywhere. I did have to up my LCF to 0.6 to make the lane changes a bit more natural.

On 3.1 the updated FoF model is much better, but it seems to have messed with some of the BP controls as my same settings dont seem to be as crisp as on 2.1. So im going to dig into this next.

Op Long - it detect stop signs/red lights decently well, but it drives like a 100yo grandma, basically unusable in my perspective as its always hitting the brakes and driving about half the speed limit. Ill probably stick to chill mode and try to dial in the BP controls to my liking.

Anyone have a set of 3.1 BP settings they find to be the sweet spot?

 

[Ajzride]

On 3.1 the updated FoF model is much better, but it seems to have messed with some of the BP controls as my same settings dont seem to be as crisp as on 2.1. So im going to dig into this next.

Anyone have a set of 3.1 BP settings they find to be the sweet spot?

The advanced lateral control in 3.1 is not as smooth as 2.1 because of how comma chagned some background logic on timing and delays. When I run 3.1 I just turn off advanced lateral. bp-4.0 is about to go into safety testing and it has resolved the issues with advanced lateral.

Op Long - it detect stop signs/red lights decently well, but it drives like a 100yo grandma, basically unusable in my perspective as its always hitting the brakes and driving about half the speed limit. Ill probably stick to chill mode and try to dial in the BP controls to my liking.

Turn on Dynamic Experiemental Control, it will help with driving like a grandma when experimental mode is engaged.

 

[dadaist]

Just got the Comma hardware and printing the Ajzride vs Microbiom designed 3D mount for my ecoboost. Going to install 2.1 version of BluePilot. Cheers.

 

[Ajzride]

Just got the Comma hardware and printing the Branden Flasch F150 Lightning 3D mount for my ecoboost. I asked him via Youtube to see if the fitment is any different and, he said it shouldn't be! Going to install 2.1 version of BluePilot. Cheers.

This mount is a remix of mine done my Microbiom (it's not a Branden Flasch design). I loved the idea initially, but I couldn't really get it to work like I wanted. The mount places the device really high on the windshield, so most of the device is hidden by the rearview mirror. That might not bother you if you never adjust the settings, but it was a pain for me because I change my settings a lot. Also know that the higher the device is, the more sway it picks up from the body of the vehicle rocking, which will introduce ping pong. I tried to do a remix to move the device lower, but the mount got too long, and it put too much leverage on the screw, so it wasn't stable and I was afraid it might crack.

I'm not sure what everyone's aversion to using the VHB tape to mount like comma reccomends is, but beware this has some drawbacks.

 

[dadaist]

This mount is a remix of mine doen my Microbiom (it's not a Branden Flasch design). I loved the idea initially, but I couldn't really get it to work like I wanted. The mount places the device really high on the windshield, so most of the device is hidden by the rearview mirror. That might not bother you if you never adjust the settings, but it was a pain for me because I change my settings a lot. Also know that the higher the device is, the more sway it picks up from the body of the vehicle rocking, which will introduce ping pong. I tried to do a remix to move the device lower, but the mount got too long, and it put too much leverage on the screw, so it wasn't stable and I was afraid it might crack.

I'm not sure what everyone's aversion to using the VHB tape to mount like comma reccomends is, but beware this has some drawbacks.

 

[dadaist]

Thanks for the input. Updated my entry. The harness has a lot of benefits. Maybe I should use a tape on the mount and skip the screw approach. This way I can place the comma on the lower end of the windshield.

 

[Ajzride]

Thanks for the input. Updated my entry. The harness has a lot of benefits. Maybe I should use a tape on the mount and skip the screw approach. This way I can place the comma on the lower end of the windshield.

here is the tape version:

https://www.thingiverse.com/thing:6297226

I recently added a 3MF file so all the orientations are proper.

 

[Steve-O]

The advanced lateral control in 3.1 is not as smooth as 2.1 because of how comma chagned some background logic on timing and delays. When I run 3.1 I just turn off advanced lateral. bp-4.0 is about to go into safety testing and it has resolved the issues with advanced lateral.

Great to hear, Will 4.0 get TSR back?

 

[Ajzride]

Great to hear, Will 4.0 get TSR back?

I dont think sunnypilot has added anything new, so only the bluepilot features will be updating.

 

[dadaist]

here is the tape version:

https://www.thingiverse.com/thing:6297226

I recently added a 3MF file so all the orientations are proper.

Slider piece is the same right? I dont need to reprint the slider

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