Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[PNGento]

It has been 5 weeks since I ordered my Comma 3x (apparently the F150 harnesses were backordered), but I'm told it will be arriving tomorrow...whoop whoop! If not mistaken, I should be using this for the latest/greatest:

installer.comma.ai/BluePilotDev/bp-3.1

and post #715 & 716 should have most of what I'll need to get up and running initially.

Now that I'll finally have a unit, I'm sure a lot of what was difficult to fully understand, will finally be easier to "get it". I'll give it a few days to learn the basics and then will be starting again and reading all posts from the beginning to hopefully see all the progress and having it all make sense.

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[B177y]

It has been 5 weeks since I ordered my Comma 3x (apparently the F150 harnesses were backordered), but I'm told it will be arriving tomorrow...whoop whoop! If not mistaken, I should be using this for the latest/greatest:

installer.comma.ai/BluePilotDev/bp-3.1

and post #715 & 716 should have most of what I'll need to get up and running initially.

Now that I'll finally have a unit, I'm sure a lot of what was difficult to fully understand, will finally be easier to "get it". I'll give it a few days to learn the basics and then will be starting again and reading all posts from the beginning to hopefully see all the progress and having it all make sense.

If 3.1 is overwhelming or difficult to tune and find the right settings, I am running 3.0 in my Lightning and it's awesome. Only one parameter needed to be adjusted, I raised the "predicted curve ratio" to 0.65.

BP 3.1 has a ton of options compared to 3.0 and I couldn't get 3.1 to drive as nice as 3.0. Same installation URL except a "3.0" at the end.

Which ever you use, you'll love it! Don't forget that you have to install either version twice due to a bug:

-Install preferred BP url

-On reboot, start tapping screen on the Comma logo until it asks if you want to erase and reboot again (something like that, it's obvious when you're looking at it)

-Use the same URL as step one to install again. This time on reboot BP will be there

 

[PNGento]

If 3.1 is overwhelming or difficult to tune and find the right settings, I am running 3.0 in my Lightning and it's awesome. Only one parameter needed to be adjusted, I raised the "predicted curve ratio" to 0.65.

BP 3.1 has a ton of options compared to 3.0 and I couldn't get 3.1 to drive as nice as 3.0. Same installation URL except a "3.0" at the end.

Which ever you use, you'll love it! Don't forget that you have to install either version twice due to a bug:

-Install preferred BP url

-On reboot, start tapping screen on the Comma logo until it asks if you want to erase and reboot again (something like that, it's obvious when you're looking at it)

-Use the same URL as step one to install again. This time on reboot BP will be there

Thanks...maybe I'll start with 3.0 and see how it works since it will be all new to me. "Simple" might be the way to begin...then after while, I can give 3.1 a try...maybe by then, I'll have a better idea how to view/understand the various options.

I've been looking forward to this for over a year...so glad the wait is almost over.

 

[PNGento]

Ok, so I started with 3.0 and all seemed to go well, but 1) I did not have to do a reboot, so not sure if not ever having any other software maybe made a difference. 2) I did a very short shakedown, and all seemed to go well. I had lane keeping on roads with poorly marked shoulders that my ACC would not lock on, so that was nice. Tomorrow I'll give it a good test...the install says to put on the mount and then wait 48 hours before hanging the Comma, so more significant testing will have to wait. I had my wife watching from outside to help guide me to direct center when installing the mount, but her sense of proportion is not the best it seems. I am about an inch off of center...should this be an issue? I suspect not, but I do have a second mount that was included, so if I need to move the mount, not an issue.

 

[Ajzride]

Ok, so I started with 3.0 and all seemed to go well, but 1) I did not have to do a reboot, so not sure if not ever having any other software maybe made a difference. 2) I did a very short shakedown, and all seemed to go well. I had lane keeping on roads with poorly marked shoulders that my ACC would not lock on, so that was nice. Tomorrow I'll give it a good test...the install says to put on the mount and then wait 48 hours before hanging the Comma, so more significant testing will have to wait. I had my wife watching from outside to help guide me to direct center when installing the mount, but her sense of proportion is not the best it seems. I am about an inch off of center...should this be an issue? I suspect not, but I do have a second mount that was included, so if I need to move the mount, not an issue.

waiting 48 hours is overly cautious, especially in warm weather. Being a full inch off center could cause it to hug one side really bad. Although some people mount off center on purpose to force it to move to the left or right depending on their driving style. If the comma hugs one side on you, moving it will the first step.

 

[Nasto]

Ok, so I started with 3.0 and all seemed to go well, but 1) I did not have to do a reboot, so not sure if not ever having any other software maybe made a difference. 2) I did a very short shakedown, and all seemed to go well. I had lane keeping on roads with poorly marked shoulders that my ACC would not lock on, so that was nice. Tomorrow I'll give it a good test...the install says to put on the mount and then wait 48 hours before hanging the Comma, so more significant testing will have to wait. I had my wife watching from outside to help guide me to direct center when installing the mount, but her sense of proportion is not the best it seems. I am about an inch off of center...should this be an issue? I suspect not, but I do have a second mount that was included, so if I need to move the mount, not an issue.

Besides the wife, I used a cloth measuring tape, a red grease pencil and the leveler app on my iPhone to make sure I was dead-on. Still, the wife had the final say.

 

[Ajzride]

Dry erase markers are perfect on windshields.

 

[Nasto]

Dry erase markers are perfect on windshields.

Yup, actually, a dry erase marker is what I used. Just remembered it wasn't a grease pencil.

 

[PNGento]

Dry erase markers are perfect on windshields.

Dry erase sounds perfect. I'll do that if necessary, but is being off center by an inch an issue?

 

[Ajzride]

Dry erase sounds perfect. I'll do that if necessary, but is being off center by an inch an issue?

I guess my response got lost in the advice on markers.

https://www.f150gen14.com/forum/thr...r-comma3x-openpilot.24241/page-53#post-665823

 

[B177y]

... is being off center by an inch an issue?

Answer:

...Although some people mount off center on purpose to force it to move to the left or right depending on their driving style. If the comma hugs one side on you, moving it will the first step.

 

[PNGento]

waiting 48 hours is overly cautious, especially in warm weather. Being a full inch off center could cause it to hug one side really bad. Although some people mount off center on purpose to force it to move to the left or right depending on their driving style. If the comma hugs one side on you, moving it will the first step.

Definitely warm. Nice though that they included 2 mounts, so if I have to move it, not a huge deal.

 

[PNGento]

So, first impressions...awesome. Puts my "weight on the steering wheel and ACC" to shame. I decided to begin on bp-3.0 and see how it progresses. Very impressed. I find I am a bit skewed to the right side (maybe due to the offset mounting point), but not so much that I mind it. After watching azjride's staging 3.0 video, I noticed a couple of things that aren't working for me the way they are for him. I did note he said he was in experimental mode (but not sure exactly what that means, but will be researching). Anyway, when he approached a stop sign, his Mach-E stops on its own...I would be blowing through stop signs without input from me. Also, it appears when he hits his turn signal, he changes lanes without any additional input. If I hit my turn signal to indicate a lane change, I am told I have to nudge the wheel in the direction of the lane change. It only takes the barest of nudging, but there has to be some. So, the stop sign recognition and stopping and a lane change without need for nudging would be nice...can I activate these features in 3.0? Or, can I activate experimental mode or must I be in staging 3.0 for this? Finally, I seem to recall that red light recognition with reaction was mentioned awhile back...is that a feature that is available? Oh, one more...how is the best way to learn all the options and features? I assume the unit must be in car and with car at least in accessory mode, or is there a best way to learn all there is about the unit.

 

[Ajzride]

I did note he said he was in experimental mode (but not sure exactly what that means, but will be researching).

There are two modes, chill and experimental. Chill mode is like BlueCruise on any road. It keeps a set speed (unless behind a slower vehicle) and stays in the lane. Experimental mode is gunning towards Tesla FSD. it does stop signs, redlights, should speed up and slow down based on speed limited etc. One day it should navigate itself. It's called experimental because it works sometimes, but not all the time, so you have to be careful with it. The speed control especially is aweful, it drives like a blind 90 year old granny.

when he approached a stop sign, his Mach-E stops on its own...I would be blowing through stop signs without input from me.

You can enable experimental mode by going to:

menu --> developer --> enable sunnypilot longitudinal control
menu --> toggles --> experimental mode.

Keep in mind stop signs and redlights are much less reliable on an F150 than in a MachE because the AI models were trained in cars, not trucks. The high mounting position of the camera in trucks confuses the AI.

Also, it appears when he hits his turn signal, he changes lanes without any additional input. If I hit my turn signal to indicate a lane change, I am told I have to nudge the wheel in the direction of the lane change. It only takes the barest of nudging, but there has to be some.

menu --> steering --> modify lane changes --> change from nudge to 0.5, tick mark automatic with blind spot detection

Oh, one more...how is the best way to learn all the options and features? I assume the unit must be in car and with car at least in accessory mode, or is there a best way to learn all there is about the unit.

Unfortunately the documentation is a bit scattered at the moment. Sunnypilot used to have a really good readme, but when comma overhauled the database earlier this year and forced him to start rewritting all of this enhacments, he hasn't had to time update all of his documentation. Probably best just to ask in here for now about specific features.

 

[bmwfrk]

@Ajzride I've been getting this warning for the last few weeks. My truck connects to my house wifi almost nightly. Is open pilot pushing for a newer version? I'm still on 2.1

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