Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[travisN000]

I updated to the latest 3.1 last week; so far the only settings changed are turning on the nudgeless lane change and the hybrid info pictured below, which brings me to my question....

Does the battery percent display the percent of usable hi-volt battery? I ask because I thought the actual SOC stayed in the 40-60 percent range.

As far as other thoughts on 3.1, I like the updated graphics. It is nice to have the battery eco coach on the display, as I usually have other info on the dash display.

The lane change is way slower than the build from June 2024 that I was running, but I initially found that one almost too aggressive when I first installed it (my blinker is off before I enter the target lane now ).

I also feel like the new software likes to hug the left side of the lane too much at times, has a very minor / slow ping pong on long straights at times, and also seems to like to hug the inside of a corner a bit too much (can be a bit too close for comfort on narrow two lane winding roads).

My plan is to drive it as-is for awhile, and see how much of my initial impressions just require an adjustment period for my brain before I start messing with the software settings. I'm already noticing these things less after a few longer drives. Anyway, thanks again for all the hard work on this project! It really does make driving more chill.

Also, any progress on your power steering rack and pinion hacking?

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[Ajzride]

Does the battery percent display the percent of usable hi-volt battery? I ask because I thought the actual SOC stayed in the 40-60 percent range.

@tonesto7 can you elaborate?

As far as other thoughts on 3.1, I like the updated graphics. It is nice to have the battery eco coach on the display, as I usually have other info on the dash display.

The lane change is way slower than the build from June 2024 that I was running, but I initially found that one almost too aggressive when I first installed it (my blinker is off before I enter the target lane now ).

I also feel like the new software likes to hug the left side of the lane too much at times, has a very minor / slow ping pong on long straights at times, and also seems to like to hug the inside of a corner a bit too much (can be a bit too close for comfort on narrow two lane winding roads).

The logic is about 90% identical to 2.1. However if you are on the latest model, it will behave differently. You could go back to Notre Dame and see if the behavior is more like 2.1.

Also, any progress on your power steering rack and pinion hacking?

The hang-up is that I had to build an entire CAN bus network for the PSCM to talk to; it wouldn't come alive on the network without a BCM, PCM, and Gateway. I have those modules and figured out the wiring, but the PCM plug is causing issues. The pins are really short (2mm), so I can't find anything that will stay in place on them. I finally tracked down a PCM plug through a website, but it would be almost $300. This morning someone messaged me that he had found a junk yard willing to cut one from a truck (they usually like to sell the entire harness for over $500). They sent us pictures to confirm the correct plug, but haven't given us the price yet.

 

[Spiffy]

@tonesto7 can you elaborate?




The logic is about 90% identical to 2.1. However if you are on the latest model, it will behave differently. You could go back to Notre Dame and see if the behavior is more like 2.1.



The hang-up is that I had to build an entire CAN bus network for the PSCM to talk to; it wouldn't come alive on the network without a BCM, PCM, and Gateway. I have those modules and figured out the wiring, but the PCM plug is causing issues. The pins are really short (2mm), so I can't find anything that will stay in place on them. I finally tracked down a PCM plug through a website, but it would be almost $300. This morning someone messaged me that he had found a junk yard willing to cut one from a truck (they usually like to sell the entire harness for over $500). They sent us pictures to confirm the correct plug, but haven't given us the price yet.

It would be hilarious if it was 500.00 lol
Anyway I'm also curious about how the data on the hybrid battery is presented. I know the truck keeps the hybrid battery between 40 and 60%. This displays it between 18 and 50% around there.

Im truly amazed at your devotion to this project. Thank you.

 

[hpwjr]

What is the difference between 3.1 and 3.1 Ford ACC?

 

[Ajzride]

What is the difference between 3.1 and 3.1 Ford ACC?

Anything with a dash after it is a special test and unless you got a message from me about it, isn't relevant.

In this case, it was a test to allow CAN vehicles (such as escape/explorer) to use Ford ACC because comma forced them to use OpenPilot Longitudinal Control.

 

[hpwjr]

when I went to settings/software/ target branch both showed up.

 

[Ajzride]

when I went to settings/software/ target branch both showed up.

Yes, but you should ignore anything with suffixes.

 

[hpwjr]

That I can do. Ignoring is easy for me.

 

[Nasto]

Yes, but you should ignore anything with suffixes.

I've been a happy camper using 2.1 (just did a 1,200 mi r/t to San Juan Islands, WA and back to Idaho) and you mentioned in this thread that SunnyPilot had more code to update before 3.0/3.1 would be fully functional. Is it advisable to just wait? I'm in no hurry. Thanks!

 

[Ajzride]

I've been a happy camper using 2.1 (just did a 1,200 mi r/t to San Juan Islands, WA and back to Idaho) and you mentioned in this thread that SunnyPilot had more code to update before 3.0/3.1 would be fully functional. Is it advisable to just wait? I'm in no hurry. Thanks!

Yes, just wait.

 

[hpwjr]

Am I hallucinating? 3.1 seems much smoother than 2.1. The minor ping pong on my steering wheel in 2.1 has virtually disappeared in 3.1. Whatever the case, it works exceptionally well. I have lost the blinker activated lane change, and in its place is a blinker and steering wheel nudge to activate. Works well, but I did like the blinker method. A very solid update.

 

[Ajzride]

Am I hallucinating? 3.1 seems much smoother than 2.1. The minor ping pong on my steering wheel in 2.1 has virtually disappeared in 3.1. Whatever the case, it works exceptionally well.

The model has changed, but the Ford lateral logic is the same.

I have lost the blinker activated lane change, and in its place is a blinker and steering wheel nudge to activate. Works well, but I did like the blinker method. A very solid update.

menu --> steering --> customize lane changes

 

[tonesto7]

@tonesto7 can you elaborate?

It’s using the CAN values for the min/max which in my truck was I believe 37% - 72%. So it does math to try and make it close to 0-100% for the gauge

 

[nakedeye]

Kudos again to all we’ve been working on this the past year and a half!!!

I just finally bumped to 3.1 and I have to say I hate the new way. The path shows when you’re not engaged. Whoever at comma decided to get rid of the pathway being very narrow when the system is not engaged to always appearing as if it is, needs to be the first against the wall when the revolution comes.?

 

[hpwjr]

I’ve now gone close to 100 miles on 3.1, and I’m convinced it is a significant improvement. I’ve completely lost all ping pong. I think it might be because you can choose the profile (2023 F150 Hybrid), and all the parameters are set for you. Before I must have had something set wrong, because, though I already was impressed, it is great now! Even while towing my 7000 lbs trailer it is steady. Amazing.

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