Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[Ajzride]

So is that just a “never will work” thing? Or are there people out there actively trying to crack the code?

There is someone trying, but no progress towards success yet.

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[Sidwin]

I suspect it has to do with print orientation causing variances, because microbiom just took my files and added the mirror mount onto to the side of it.

ASA and ABS shrink more than PLA, so a filament calibration is a good idea. I do hand sand all of the grooves on the ones I make and ship to ensure they are snug with no wiggle, but don't get stuck.

my cousin printed it for me. i took a file and filed down both sides and it moves in and out easily now.

 

[Sidwin]

i can't go into experimental mode with 3.1 bluepilot. anyone knows why?

 

[Ajzride]

i can't go into experimental mode with 3.1 bluepilot. anyone knows why?

menu —> developer —> enable SunnyPilot longitudinal control

 

[Sidwin]

menu —> developer —> enable SunnyPilot longitudinal control

That was it. So does this mean stop signs and red lights will be recognized? Thank u for all your hard work.

 

[Ajzride]

That was it. So does this mean stop signs and red lights will be recognized? Thank u for all your hard work.

It means they will be recognized sometimes. It is called experimental for a reason. In addition to it only working part of the time, because the F150 is so much taller than the vehicles the AI trains on, it usually stops way to late for us.

 

[PNGento]

it’s under customize lane changes

Attachments

• BluePilot 2.1 Settings.pdf

I switched from BP3.0 to BP2.1 and these settings really helped me get quickly up and running, but there were a couple of items that I'd like to change. 1st is that speed sign recognition does RECOGNIZE the speed limit changes, but no adjustments are made based on the change in speed limit. I checked, and in the truck's settings, speed recognition is still checked and a 5 MPH tolerance is still in place, but it is as if the truck is ignoring this setting. Second, my dash was replaced by a very different appearing dash...1st image is how it was before, implementing the above settings changed things. Of the settings that are posted, which ones might I be able to change to give me back speed sign recognition with appropriate set speed adjustments and can I revert back to the stock dash gauge arrangement. I liked how changing driving modes made slight changes, such as the truck's color changing depending on which driving mode was selected, (eg. the truck being green when ECO mode was selected). I wish I had taken screenshots of how my settings were BEFORE making the adjustments, but since I didn't, hoping there is something that will restore the speed sign recognition with the adjustment and put the dash back to more stock-like, but otherwise keep the rest of the settings (would really like my tach back).

 

[Ajzride]

1st is that speed sign recognition does RECOGNIZE the speed limit changes, but no adjustments are made based on the change in speed limit. I checked, and in the truck's settings, speed recognition is still checked and a 5 MPH tolerance is still in place, but it is as if the truck is ignoring this setting.

If you have "openpilot longitudinal control alpha" checked on, then you are now using openpilot ACC instead of ford ACC. This means Ford's Predictive Speed Assist no longer works. SunnyPilot has it's own Speed Limit Control, but it works very different:

Ford logic will always set your cruise control setpoint based on the speed limit sign + your offset. Let's assume you have a 3mph offset. If you set your cruise at 35 mph, and you go into a 45 mph zone, it will change your speed setpoint to 48mph. when you go into a 55mph zone, it will jump to 58. If you then go into a 40mph zone, it will drop to 43.

Comma logic says the car can never exceed the setpoint you set with the steering wheel. So if set it at 35 mph, and go into a 30mph zone, it will drop you to 30mph, but if you then go into a 45mph zone, it will only set you to 35mph, because that was the max you set with the steering wheel. You will have to reach up and bump the setpoint on the dash to 45 with the steering wheel buttons. Then it will drop down as far as zero, but will never go above 45mph.

Make sense?

If you want to go back to Ford logic, untoggle opnepilot longitudinal control alpha

Second, my dash was replaced by a very different appearing dash...1st image is how it was before, implementing the above settings changed things.

The setting is literally called "show hands free UI". Turn that off.

 

[Rocinanté]

Tuning SOS!

Any suggestions on the best tuning parameters to remove or severely reduce ping-pong(ing)?. I have been messing with the tuning for the last 4 days and still couldn’t get it to stay in center, at least for more than a mile. Curves are no issue; tangents ARE the worst. Any help, as always is GREATLY APPRECIATED!

Thanks for the quick response @Ajzride

PS: OCD not rule out!

BluePilot 3.1
23 XLT STD RG, all stock except DIY ACC.

 

[Rocinanté]

Tuning SOS!

Any suggestions on the best tuning parameters to remove or severely reduce ping-pong(ing)?. I have been messing with the tuning for the last 4 days and still couldn’t get it to stay in center, at least for more than a mile. Curves are no issue; tangents ARE the worst. Any help, as always is GREATLY APPRECIATED!

Thanks for the quick response @Ajzride

PS: OCD not rule out!

BluePilot 3.1
23 XLT STD RG, all stock except DIY ACC.

To add, I found turning off Custom Tuning and Advanced Lateral Control to be a bit better.

 

[Ajzride]

Tuning SOS!

Any suggestions on the best tuning parameters to remove or severely reduce ping-pong(ing)?. I have been messing with the tuning for the last 4 days and still couldn’t get it to stay in center, at least for more than a mile. Curves are no issue; tangents ARE the worst. Any help, as always is GREATLY APPRECIATED!

Thanks for the quick response @Ajzride

PS: OCD not rule out!

BluePilot 3.1
23 XLT STD RG, all stock except DIY ACC.

Can you upload a route? I added instructions to post 7.

 

[Rocinanté]

Can you upload a route? I added instructions to post 7.

I wanted to but it seems every drive on any road so I wasn’t sure which segment to add.

Atlanta to Chattanooga, TN.

6f7ed161e91572ec/00000035--5348340121/7

From 02:00 - 05:00 mins. Please keep in mind I was actively tweaking with tuning as I go.

 

[Rocinanté]

I wanted to but it seems every drive on any road so I wasn’t sure which segment to add.

Atlanta to Chattanooga, TN.

6f7ed161e91572ec/00000035--5348340121/7

6f7ed161e91572ec/00000037--1a46b3976f/2

From 02:00 - 05:00 mins. Please keep in mind I was actively tweaking with tuning as I go.

 

[Ajzride]

I’ll look before bed tonight.

 

[Ajzride]

Your PC Blend Ratio is way too high. Turn it down to around 0.4-0.6. Turn off Advanced lateral. Once you get things decent without advanced lateral, you can turn it back on. Set path angle amplitude to 1.2 and slowly work up, dont go above 1.8.

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