Introducing Bluepilot! A Ford specific fork for Comma3X / OpenPilot

[Spiffy]

I dropped it to 0.47. Seems to have helped. Lane changes to the left are not as bad as right lane changes. At .47 the start is slower. That's fine. It stops moving left or right sooner. Won't cross the opposite side any more but its still a bit aggressive when centering. I ran out of interstate for now. I will keep trying new settings.

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[Steve-O]

Upgraded to 3.1. 2021 f150, Thank you guys again, ui looks much better. Hoping they keep changing ui periodically cause im starting to get screen burnin from the driver monitoring symbol. Been having some random issues, it quit ford acc once, when rolling up to vehicle at light. Also I got an error for something like "no radar restart vehicle" went away without restart after 15 seconds. I have found not using lane offset is better cause lane offset being on by even a lil bit causes ping ponging on straight-aways for me. Still don't love the lane positioning overall, but much better than where it was 6 months ago. Alot of turn warnings on curves it didn't struggle with before. Got my first reboot memory full warning, had to reboot.

Loving the radar info, lol, you can now clock people on the highway.
Any chance of adding ford acc gap distance setting to comma? It would be a big help for me with the small digital cluster. I assume maverick and escape owners might be in a similar boat

I have found best performance with ford acc, custom tuning turned off; advanced lateral control and laneful enabled. With 0 on lane offset. Is there anything else I can do to improve performance?

 

[Ajzride]

Been having some random issues, it quit ford acc once, when rolling up to vehicle at light. Also I got an error for something like "no radar restart vehicle" went away without restart after 15 seconds

This could be related to a loose pin in the harness, or it could be a software bug, but you are the only one to report it so far.

I have found not using lane offset is better cause lane offset being on by even a lil bit causes ping ponging on straight-aways for me.

This is accurate. Anytime we try to change our position from exactly what comma wants, the comma will fight us to move back. If our PC BLend Ratio is high enough, then comma's request will be muted and you can get away with a little bit of fudging. But too little PC or too much offset request and you are back to fighting comma's model. The only real way to adjust your lane position without fighting comma is to remount your device offcenter so comma thinks center is where you prefer it to be. This however is a permenant change, so if you get a on a tight two lane road, you can't reach up on the UI and change it. I toyed with a quick release dock update that had a screw and nut so that you could twist a knob and slide the comma left or right on the fly, but it was going to be huge, and people already complain about how much of the windshield is blocked.

Alot of turn warnings on curves it didn't struggle with before.

Comma changed the logic, still working on how to make it better.

Loving the radar info, lol, you can now clock people on the highway.
Any chance of adding ford acc gap distance setting to comma? It would be a big help for me with the small digital cluster. I assume maverick and escape owners might be in a similar boat

You mean flashing the gap setting up on the COmma screen when you change it? That would be a feature reqeust for @tonesto7 , but I think he has a pretty big queue at the moment.

I have found best performance with ford acc, custom tuning turned off; advanced lateral control and laneful enabled. With 0 on lane offset. Is there anything else I can do to improve performance?

Just be patient.

 

[Steve-O]

]
Just be patient.

Copy that, thank you, it's great, it makes my 100 mile commute tolerable.

 

[kc-f150]

FYI, I am seeing the same issues Steve-O is. Radar errors, warnings on curves that it handled before, difficulty adjusting lane centering.
I’m on 3.0, and comparison is to 2.1. I’ll update to 3.1 soon. And set lane centering back to 0.

Even with the issues, it handles 99% of my driving beautifully!

Thanks for all your work on bluepilot!

 

[Ajzride]

The warning on curves is normal. Radar errors not so much. Please upload some logs and DM me the link.

 

[tonesto7]

Loving the radar info, lol, you can now clock people on the highway.
Any chance of adding ford acc gap distance setting to comma? It would be a big help for me with the small digital cluster. I assume maverick and escape owners might be in a similar boat

Are you looking to have the distance indicator display on the screen at all times? Like off to the side?

 

[Steve-O]

Are you looking to have the distance indicator display on the screen at all times? Like off to the side?

Yes, that would be great... I would prefer all the time similar to OP long. Thank you!

 

[Spiffy]

I just returned home pulling a trailer. Im back on 2.1. The performance was spectacular. I haven't had much luck in the past with pulling anything. Comma would start to ping pong and the trailer would start to sway.
After I turned down LCF to .46 the harsh completion of lane changes got better. It feels like my lane control is spot on. On ralls.
Its nice to be able to use comma when towing.

When I was on 3.0 and had radar I could clock the traffic in front. It saw traffic quite a ways out. Like 10 or more car lengths.
On regular roadways comma doesn't have any problem slowing and or stopping for traffic but when im going over 60mph and I see the radar has a lock on traffic and its reporting its slowing and the distance is getting smaller why is it so delayed in stopping when closing the gap before taking action?
I used to think it was because the comma couldn't see that far. Now that I can see it does its a new conundrum. This is a question for comma but I don't know where to post it.

 

[Ajzride]

I just returned home pulling a trailer. Im back on 2.1. The performance was spectacular. I haven't had much luck in the past with pulling anything. Comma would start to ping pong and the trailer would start to sway.
After I turned down LCF to .46 the harsh completion of lane changes got better. It feels like my lane control is spot on. On ralls.
Its nice to be able to use comma when towing.

When I was on 3.0 and had radar I could clock the traffic in front. It saw traffic quite a ways out. Like 10 or more car lengths.
On regular roadways comma doesn't have any problem slowing and or stopping for traffic but when im going over 60mph and I see the radar has a lock on traffic and its reporting its slowing and the distance is getting smaller why is it so delayed in stopping when closing the gap before taking action?
I used to think it was because the comma couldn't see that far. Now that I can see it does its a new conundrum. This is a question for comma but I don't know where to post it.

Comma can see that far out, it just cant calculate things that far out. it runs Out of horsepower at about 100 meters.

 

[Spiffy]

That explains that.
Now. Its it true that when driving under comma control we lose emergency braking? If so do we get it back when not using it other than disconnecting it. The head unit or pulling the connector box?

 

[Ajzride]

That explains that.
Now. Its it true that when driving under comma control we lose emergency braking? If so do we get it back when not using it other than disconnecting it. The head unit or pulling the connector box?

If you have “OpenPilot longitudinal control” turned off you have emergency braking.

if you have it turned on, you probably have emergency braking but no one has tested it yet.

 

[Spiffy]

If im just using bluepilot and Ford's acc what do I have. I dont know if long control is on or not.
One of the reasons I ask is my son was driving with comma on. Someone cut in and slammed the brakes. I saw the 3x and the dash light up. He thought the truck had applied brakes a split second ahead of him. I thought I read somewhere that AEB won't work. Is comma capable of AEB?

 

[Ajzride]

If im just using bluepilot and Ford's acc what do I have. I dont know if long control is on or not.
One of the reasons I ask is my son was driving with comma on. Someone cut in and slammed the brakes. I saw the 3x and the dash light up. He thought the truck had applied brakes a split second ahead of him. I thought I read somewhere that AEB won't work. Is comma capable of AEB?

If you are using Ford ACC you have full Fod AEB.

If you are using OpenPilot ACC you probalby have ford AEB. They have confirmed that Ford AEB wrks with OpenPilot ACC on the Q3/CAN fords, so it probably works on Q4/CANFD, but it hasn't been tested yet. The comma itself will not apply AEB braking, but it will alert on the screen if Ford is applying AEB braking

 

[Spiffy]

Yes I saw that it alerted. Why hasn't it been tested yet? Is it as simple as a cardboard box in a parking lot? Yesterday it seemed to have AEB. It was confusing as you can imagine. I want to test this some more.
Im going somewhere with my thought process. I want to verify that the q4 harness is alowing brake signal through. If not then simply unplugging the 3x will cause the solid state relays to pass all data/commands right? I know my new box is doing that now.
Trust me I have thought process going on.

But if I still have AEB then neve rmind.

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