Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[DIEProphezeiung]

Hey, I just wanna tell everyone thanks for all the hard work on this! I've got almost 1000 miles with my Comma3x now, and considering my truck doesn't come with BlueCruise, this has been amazing. The only gripe I have so far is that it likes to ride closer to the center line than I am comfortable with at times, but it looks like this will be somewhat resolved with upcoming updates! Nice!

When we release bluepilot 2.0 it will have an "in-lane offset" so you can position yourself left or right of what the model wants, but it won't be dynamic depending on what lane you are in.

Looking forward to all the future updates!

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[Ajzride]

bluepilot 2.0 is available in the staging branch tonight

 

[Ajzride]

What's Changed:

• New OEM-style lateral control scheme
  • Utilizes curvature and curvature_rate to describe the path of the road
  • Utilizes path_offset and path_angle to apply error correction
  • Eliminates the need to tune predicted_curvature/desired_curvature blend
  • Allows for adjustable in-lane position

 

[Spiffy]

Leave nothing unplugged. The cable from the IPMA to the PSCM was unplugged from the IPMA and plugged into the Comma Harness. Then the comma Harness was plugged into the IPMA. Remove the harness and plug the PSCM back into the IPMA.

I ended up removing the cable and going back to stock. I can read all the modules now. Do you think there is something wrong with the Ford cable? It's a real pain to reach in and swap the connectors.

 

[Ajzride]

I ended up removing the cable and going back to stock. I can read all the modules now. Do you think there is something wrong with the Ford cable? It's a real pain to reach in and swap the connectors.

The 3D printed half of the Comma harness is fragile, and it can cause issues. They have a newer version that is injected molded if you want to order it on the shop. You would need a Q4 harness and the newer style comma power to make the upgrade.

 

[Diligenthunter]

bluepilot 2.0 is available in the staging branch tonight

Installing now, will report back.

 

[Spiffy]

The 3D printed half of the Comma harness is fragile, and it can cause issues. They have a newer version that is injected molded if you want to order it on the shop. You would need a Q4 harness and the newer style comma power to make the upgrade.

What is the newer style comma power?

 

[Ajzride]

What is the newer style comma power?

No more Cat5

https://comma.ai/shop/comma-power

 

[Spiffy]

I can still power the comma without the obd connection like I'm doing now with a new ford cable?

 

[Ajzride]

I can still power the comma without the obd connection like I'm doing now with a new ford cable?

Yes. It will just power off when the truck is off

 

[nakedeye]

Holy shit, this update is amazing.

the little driving I did, it was perfect. Nailed the curves it used to bomb on. I moved back to Notre Dame and pushed it to the left 4 clicks.

Are the lane centering and all those other adjustments gone now?

 

[Ajzride]

Holy shit, this update is amazing.

the little driving I did, it was perfect. Nailed the curves it used to bomb on. I moved back to Notre Dame and pushed it to the left 4 clicks.

Are the lane centering and all those other adjustments gone now?

Yes, no more tuning, it's all baked in.

 

[Spiffy]

Bummer. I had to remove my comma for a week or so. The dealership couldn't get full access to the can buss with the Ford comma cable.
But I must have been a outlier. My comma with bluepilot was perfect even before this update. The most i had to do was a quick recalibration once every couple weeks.

 

[Diligenthunter]

Updated this morning, I noticed no difference on my driving today. 100 ish miles

Granted I didn’t have anything wrong with the previous version, but at least this update didn’t break anything.

 

[labjr1]

I updated last night but also updated my IPMA and PSCM. I track much more centered in the lane now (previously I was riding the right line too closely). My ping ponging issue is improved (but still not where it was before I added the 2" leveling kit so I will adjust the leveling of sensor in the bumper a bit further.

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