Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[Ajzride]

We are still delayed guys. Comma completely reworked long control and now we have to update all of the tuning we did in December:

https://github.com/commaai/openpilot/commit/bc303df6a0a4a9d52a2e92e5976b6c7aa5138b95

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[powerboatr]

thanks
I just spent an hour re -reading the entire posts
a bit of smoke emitted from my ears. The long form about how ford controls the steering rack finally set in and made a light bulb come on
thank you for all the hard work your doing,
i want to go this route, but am too "non ELON smart" to pull the trigger yet.
you are making it an easier choice

 

[GMPowerboost]

I'm sure that it was toughly explored, but to the point: I was surprised in activating pro trailer backup assist just how aggressively that ran my steering wheel from lock to lock (left to right).. (tried it for about 5 seconds and then switched it back off and did it normally) but it still made me wonder if there would be any use recording that operating and if there would be anything useful in the signaling that it produces?

 

[Ajzride]

I'm sure that it was toughly explored, but to the point: I was surprised in activating pro trailer backup assist just how aggressively that ran my steering wheel from lock to lock (left to right).. (tried it for about 5 seconds and then switched it back off and did it normally) but it still made me wonder if there would be any use recording that operating and if there would be anything useful in the signaling that it produces?

Park Assist and Trailer Assist commands can send massive amount of torque, they would be incredibly dangerous on the highway. The PSCM will reject those commands above 9mph for safety reasons.

 

[GMPowerboost]

Park Assist and Trailer Assist commands can send massive amount of torque, they would be incredibly dangerous on the highway. The PSCM will reject those commands above 9mph for safety reasons.

Makes sense, I was just curious if that would help with new open pilot models recently and getting closer to end to end driving assist. Also I thought at one point it seemed that 90 degree turns at low speeds was also an issue but I dont recall fully now.

 

[Ajzride]

Makes sense, I was just curious if that would help with new open pilot models recently and getting closer to end to end driving assist. Also I thought at one point it seemed that 90 degree turns at low speeds was also an issue but I dont recall fully now.

90 degree turns are an issue. And we have considered using park assist commands to execute them. But 9 mph is really slow. Most turns happen at 14-18 mph.

 

[Ajzride]

the branch "experimental" has been synced up with sunny pilot as of 07.31.2024 and has updated tuning for the new long API. If we get good feedback over the next week or two we will promote it to stable.

 

[ERM]

the branch "experimental" has been synced up with sunny pilot as of 07.31.2024 and has updated tuning for the new long API. If we get good feedback over the next week or two we will promote it to stable.

For us new kids on the block - does that mean that when I get in the truck today, it will alert me that there is a new version of S/W to download that I would run on experimental, or do I look for a new branch that is the same one we're on but says "experimental" instead of "stable"? Or maybe not either of those....

 

[Ajzride]

For us new kids on the block - does that mean that when I get in the truck today, it will alert me that there is a new version of S/W to download that I would run on experimental, or do I look for a new branch that is the same one we're on but says "experimental" instead of "stable"? Or maybe not either of those....

You can go into the menu, find the software tab, then select the new branch from the drop down menu.

 

[nakedeye]

the branch "experimental" has been synced up with sunny pilot as of 07.31.2024 and has updated tuning for the new long API. If we get good feedback over the next week or two we will promote it to stable.

I cannot thank you enough. This has gone from a fun toy I had to be full alert and battle as it turned, to something I can tell my mother to turn on and trust.

the one thing I still battle is letting it steer itself on side roads. It will over steer on a consistent basis. It also will not slow down until 3/4 the way through the turn. Are there settings I’m not doing right? I have both turn options set, the map and visual based.

 

[nakedeye]

also, while I know it cannot do fully self driving, how do I get it to respond more when I have an address set? It doesn’t even attempt to turn, and it also misses the exit on highways more often than not. Is there something I need to set differently to make it at least attempt to self drive?

 

[nakedeye]

I really appreciate the blue Cruise visuals on the dash. I have to say though, it’s a little funny on a 502 a package without 360 cameras this vehicle never had blue cruise so it’s missing the sensors. I put on the screen and it only shows a car in front of me occasionally, ha ha ha ha.

 

[Ajzride]

also, while I know it cannot do fully self driving, how do I get it to respond more when I have an address set? It doesn’t even attempt to turn, and it also misses the exit on highways more often than not. Is there something I need to set differently to make it at least attempt to self drive?

Comma removed the attempt to make turns to reach an address because it sucked so bad. They claim they will rewrite it from scratch starting in October.

It also does a crap job of slowing down for curves. Also supposed to get fixed in the rewrite.

 

[nakedeye]

Awesome, thank you for the info!

 

[travisN000]

I really appreciate the blue Cruise visuals on the dash. I have to say though, it’s a little funny on a 502 a package without 360 cameras this vehicle never had blue cruise so it’s missing the sensors. I put on the screen and it only shows a car in front of me occasionally, ha ha ha ha.

The return of the visuals caught me by suprise a few days ago.. I hit the button on the wheel to enable Bluepilot not expecting the blue colored dash, and when it changed colors my first thought was 'WTF.. how did ford block my bluepilot ??!?'

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