Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[Schwalme]

Happy to be part of the BluePilot experience - very impressed and satisfied. Have driven with the Comma 3x for 2 weeks, logging 800 miles. Drove with a dash mount for 100 miles, while waiting for a 8 deg windshield mount to arrive and cure. Equally great results with both mounts.

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[Ajzride]

Cool dash mount, how did you pull that off?

 

[Schwalme]

Thanks. Bulletpoint mount, L bracket and 3M Dual Lock. Kept the 3x level and rock steady.

 

[Ajzride]

Thanks. Bulletpoint mount, L bracket and 3M Dual Lock. Kept the 3x level and rock steady.

Sounds like it would have blocked the vent holes on the back though.

 

[DW2020]

Sorry if I offend anyone for asking a maybe controversial question.

Does this work while towing?

I ask because when I had BlueCruise 1.0 software on my IPMA, lane-centering (hands-on) worked great with my rig. Since BlueCruise 1.3 IPMA, I only have lane departure assist when the 7-pin trailer socket is connected.

I’m wondering if a Comma 3X could get me the lane-centering assist back. My concern is whatever is locking out with the 7pin connected might interfere with the PSCM acting on Comma’s signals?

Thanks

 

[Ajzride]

Sorry if I offend anyone for asking a maybe controversial question.

Does this work while towing?

I ask because when I had BlueCruise 1.0 software on my IPMA, lane-centering (hands-on) worked great with my rig. Since BlueCruise 1.3 IPMA, I only have lane departure assist when the 7-pin trailer socket is connected.

I’m wondering if a Comma 3X could get me the lane-centering assist back. My concern is whatever is locking out with the 7pin connected might interfere with the PSCM acting on Comma’s signals?

Thanks

Works great while towing. Just remember to TURN OFF AUTOMATIC LANE CHANGES if you are towing. Bad things can happen if you dont.

 

[Schwalme]

Sounds like it would have blocked the vent holes on the back though.

No issue with the vent holes - attached over the "," logo.

 

[Ajzride]

No issue with the vent holes - attached over the "," logo.

Man…. That is right where the fan is. Glad you didn’t run like that in the summer.

 

[Schwalme]

Man…. That is right where the fan is. Glad you didn’t run like that in the summer.

Thanks for the feedback. Didn't realize.

 

[bmwfrk]

Since people have asked, these are the exact settings I run on Staging-2.1. These are optimized for 75-85mph on concrete interstates and tollways in SETX.

Enable Human Turn Detection: Yes
Lane Change Factor: 0.75
Enable Advanced Lateral Control: Yes
Tuning Profile: Custom
Predicted Curvature Blend Ratio: 0.6
Path Angle Amplitude: 1.85
Path Angle In-Curve Reduction: 0.75

@Ajzride thanks for all the support. I finally have comma3x up and running on Staging 2.1

What other settings do you recommend for the other Open/Sunny Pilot menus for the F-150? I see you can tap on each item to see a description but in general I don't see much documentation online regarding what each setting does and how they work.

 

[Ajzride]

@Ajzride thanks for all the support. I finally have comma3x up and running on Staging 2.1

What other settings do you recommend for the other Open/Sunny Pilot menus for the F-150? I see you can tap on each item to see a description but in general I don't see much documentation online regarding what each setting does and how they work.

You can go to the sunnypilot readme and click. on "highlight features" to find his descriptions.

https://github.com/sunnypilot/sunnypilot/blob/dev-c3/README.md

Here is what I run.

 

[bmwfrk]

You can go to the sunnypilot readme and click. on "highlight features" to find his descriptions.

https://github.com/sunnypilot/sunnypilot/blob/dev-c3/README.md

Here is what I run.

Thanks! this is super helpful.

I just did a few hours of driving/tuning. I started with low and ended up very close to your tune settings (I had to dial back Lane Change to 0.6 and In-curve Reduction to 0.65). Lowering the amplitude especially smoothed things out without losing center. Tested on ATX highways and curvy arterials. Really shocked how fast and tight of turns comma can make once tuned. I couldn't tell if Lanefull was had much effect?

I did however struggle a bit with the Sunnypilot side. Perhaps you can shed some light if these are the expected behaviors:

Open pilot Long control - I found this pretty uncomfortable and robotic compared to Ford ACC. The following distance was hilariously long compared to ACC. Regardless of the personalities I chose, it was very 'touchy' back and forth between gas and brake. Always wanting to maintain at least 50m distance at highways speeds with no give and take. Aggressive breaking when cars cut in front.

Experimental mode - not sure if it was affected by night driving, this was unusable at highway speeds. It was interesting to watch it try in town, but on the highway it wouldn't allow the truck to get up to speed. Constantly wanting to slow down or run 10-20mph below the speed limit.

Dynamic options - I didn't notice these changing much

Vision Based Turn Speed - this worked pretty well. I wish there was for this to work with Ford ACC

 

[Ajzride]

Open pilot Long control - I found this pretty uncomfortable and robotic compared to Ford ACC. The following distance was hilariously long compared to ACC. Regardless of the personalities I chose, it was very 'touchy' back and forth between gas and brake. Always wanting to maintain at least 50m distance at highways speeds with no give and take. Aggressive breaking when cars cut in front.

This is expected, and we have done the best we can to smooth it out. You shoudl try stock sunnypilot and see how bad OP long is. This is why I run stock ACC 95% of the time.

Experimental mode - not sure if it was affected by night driving, this was unusable at highway speeds. It was interesting to watch it try in town, but on the highway it wouldn't allow the truck to get up to speed. Constantly wanting to slow down or run 10-20mph below the speed limit.

Experimental mode drives like a grandma. This is why sunnypilot invented Dynamic Experimental Control. When that is turned on it will toggle between standard ACC and Experimental mode based on if an intersection is detected.


For my money I just turn OP Long off, run Ford ACC and enjoy OP lateral control.


Be careful with the lane change factor being so low. It does create really smooth lane changes, but sometimes the gap between what the model asked for and what we actually execute is big enough that the model starts asking for more and more, and suddenly, the lane change gets really aggressive really fast. I settled around 72-75 because it slows it down enough to be comfortable (although not ideal) without those occasional lane changes that take off and get out of hand.

 

[TheSnotRocket]

Is anyone using this while towing? BC likes to induce wild ping ponging that causes trailer sway.. wondering if anyone has any experience with this.

 

[Ajzride]

Is anyone using this while towing? BC likes to induce wild ping ponging that causes trailer sway.. wondering if anyone has any experience with this.

I pulled a 16' utility trailer (900 miles RT) and a 20' dump trailer (100 miles RT) without issues. Just be sure to turn off automatic lane changes.

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