Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[Mcbutter]

Post #5 updated with more techincal talk. This time a focus on ping pong.

https://www.f150gen14.com/forum/thr...fork-for-comma3x-openpilot.24241/#post-457707

Are you able to explain how the toggles you can change for reducing ping-pong on the next update will work? Will it change anything else by making it reduce more against ping-pong, say how it handles turns before the toggle changes? Looking forward to this update.

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[Ajzride]

Are you able to explain how the toggles you can change for reducing ping-pong on the next update will work? Will it change anything else by making it reduce more against ping-pong, say how it handles turns before the toggle changes? Looking forward to this update.

I'll be doing a video.

 

[Mcbutter]

I'll be doing a video.

You're the man!

 

[nakedeye]

I don’t get ping pong too much but I definitely get the truck drifting so far to the right, it’s scary. I also have my device mounted lower than most but I don’t think that’s the issue.

I actually switched back to Duck Amigo because the two newer models were worse with the drifting right.

I have stock suspension, 502a 2023 package stock wheels 20” I think

 

[Spiffy]

I recently switched to 2770 with experimental. Toggled on experimental, long, dec.
Notra dame. For the mist part it's very similar to using stock ford for control. What I like about stock ford is it's speed control.
Am I missing something with experimental mode? I know it can do speed somewhat but I don't know what to set.

 

[Diligenthunter]

After playing around with a half dozen mounting options I can’t find one that I like.

Anyone have pictures of their mounting solution that doesnt involve VHB tape on their windshield?

 

[Ajzride]

I don’t get ping pong too much but I definitely get the truck drifting so far to the right, it’s scary. I also have my device mounted lower than most but I don’t think that’s the issue.

I actually switched back to Duck Amigo because the two newer models were worse with the drifting right.

I have stock suspension, 502a 2023 package stock wheels 20” I think

In lane positioning is the next thing I’m going to try and solve. I’ve had various levels of success so far.

 

[Ajzride]

After playing around with a half dozen mounting options I can’t find one that I like.

Anyone have pictures of their mounting solution that doesnt involve VHB tape on their windshield?

I started a proof of concept for a built-right style dash mount, but never finished it. If you know how to use Fusion 360 I'll send you the files so you can finish it.

 

[Diligenthunter]

I started a proof of concept for a built-right style dash mount, but never finished it. If you know how to use Fusion 360 I'll send you the files so you can finish it.

I’ve been trying to cut and splice with your ball mount file, I’d really like to have it mounted off the mirror.

I wonder if in the future we could have a camera module and just use an android phone as the display?

Appreciate the offer, I just started playing with fusion this month. But I don’t have or want that built right mount.

 

[Ajzride]

I've done the mirror mount before and never could get it solid enough. The Comma ways massively more than the mirror, and it causes a lot of vibrations., which in turn causes the car to jump around. I don't see how it would be possible.

I think Comma is probably a few years away from separating the camera from the headhunt.

 

[nakedeye]

I recently switched to 2770 with experimental. Toggled on experimental, long, dec.
Notra dame. For the mist part it's very similar to using stock ford for control. What I like about stock ford is it's speed control.
Am I missing something with experimental mode? I know it can do speed somewhat but I don't know what to set.

What do you think you’re missing from what it sounds like, you have it set correctly. You can then hit the gear icon when driving and set the dynamic personality to enable and then set your acceleration personality accordingly. That’s one of the best features they’ve added since I’ve been following this.

 

[travisN000]

After playing around with a half dozen mounting options I can’t find one that I like.

Anyone have pictures of their mounting solution that doesnt involve VHB tape on their windshield?

Not much help right now, but maybe someday SideCar (drivesidecar.com) will come out with a setup for our F150s

 

[Ajzride]

Not much help right now, but maybe someday SideCar (drivesidecar.com) will come out with a setup for our F150s

Ford uses a CSML camera, which is much harder to capture. Also no real way to duplicate it so the stock system doesn’t throw errors if you divert it into a stand alone system.


the team was actually discussing headless solutions just yesterday.

 

[Ajzride]

Bluepilot 1.1 is finally ready. I'm actually going to be out of pocket until Monday, but I decided to push it out. If you have any problems, revert back to stable until Monday.

The new release is under the branch "staging." We are moving away from the name "experimental" because Comma already uses that for too many things. From now on, "staging" is the cutting-edge branch.

Here are the highlights:

• New lateral control scheme including using the "curvature_rate" signal to help increase the amount of curve that can be taken without driver intervention
• New calculation for "steering limited" messages. Should reduce the number of false alerts
• New Ford-specific menu with tuning parameters for lane change, anti-ping-pong, and corner-cutting
• Ability to toggle BlueCruise UI (on compatible clusters), including hands-on and eyes-on-road messages in the cluster.

Here is a brief video on the tuning parameters:



If you already have Bluepilot installed, you can just choose the new branch from the drop-down menu; if you don't, then the installer URL is:

bit.ly/bp-staging

A huge thanks to @tonesto7 for the custom menu and a lot of work on the GitHub repositories. Also, thanks to @rwxr_xr_x for a lot of behind-the-scenes work on the longitudinal control.

 

[ZHUORY]

Very nice works! Are the EDGE merged to it?

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