OpenPilot on the F-150 (BlueCruise alternative)

[BennyTheBeaver]

Last night Isaac installed the custom 9 foot harness I made. It did remove the errors. He is testing this week to ensure there are no unintended consequences from the change. We will post the update on GitHub once the test is over.

Thank you for the update!

Do we have any chance of getting official support in the near future?

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[Ajzride]

Thank you for the update!

Do we have any chance of getting official support in the near future?

We might get "official support" some time this summer, although I'm a little doubtful, but I'm not sure what it really buys us at this point. SunnyPilot already officially supports us, and has always been very supportive of make/model customizations necessary to maximize the experience on a specific vehicle. Comma has a very small "vehicle team" which focuses on enhancements that improve the experience for the maximum number of users. They have been sitting on the code we sent them to fix the acceleration and braking since mid-January. The code we are testing to improve lateral control is going to vastly different than stock OP, and I'm not sure they will ever support it.

 

[jasoyeung]

We might get "official support" some time this summer, although I'm a little doubtful, but I'm not sure what it really buys us at this point. SunnyPilot already officially supports us, and has always been very supportive of make/model customizations necessary to maximize the experience on a specific vehicle. Comma has a very small "vehicle team" which focuses on enhancements that improve the experience for the maximum number of users. They have been sitting on the code we sent them to fix the acceleration and braking since mid-January. The code we are testing to improve lateral control is going to vastly different than stock OP, and I'm not sure they will ever support it.

I'm surprised they don't have plans to include the F150, with the F-Series being the best selling vehicle.

I'm sure merging the code requires significant effort though. I was excited to see that their code was open source, but it seems they don't have ways for community to be truly involved with the main project (other than forking and merge requesting).

 

[Ajzride]

I'm surprised they don't have plans to include the F150, with the F-Series being the best selling vehicle.

I'm sure merging the code requires significant effort though. I was excited to see that their code was open source, but it seems they don't have ways for community to be truly involved with the main project (other than forking and merge requesting).

Comma is making their money from the AI/ML they develop, not really from sales of Commas. While having Commas in a boat-load of F150s would greatly enhance their models, the Ford control scheme is so drastically different from all other manufacturers that they must have decided the juice wasn't worth the squeeze to put a lot of time into F150 adoption.

 

[HammaMan]

We might get "official support" some time this summer, although I'm a little doubtful, but I'm not sure what it really buys us at this point. SunnyPilot already officially supports us, and has always been very supportive of make/model customizations necessary to maximize the experience on a specific vehicle. Comma has a very small "vehicle team" which focuses on enhancements that improve the experience for the maximum number of users. They have been sitting on the code we sent them to fix the acceleration and braking since mid-January. The code we are testing to improve lateral control is going to vastly different than stock OP, and I'm not sure they will ever support it.

Any effort put into trying to maximize regen on the PB? Just a variable to think about.

 

[Svt54]

We might get "official support" some time this summer, although I'm a little doubtful, but I'm not sure what it really buys us at this point. SunnyPilot already officially supports us, and has always been very supportive of make/model customizations necessary to maximize the experience on a specific vehicle. Comma has a very small "vehicle team" which focuses on enhancements that improve the experience for the maximum number of users. They have been sitting on the code we sent them to fix the acceleration and braking since mid-January. The code we are testing to improve lateral control is going to vastly different than stock OP, and I'm not sure they will ever support it.

When you say "to fix the acceleration and braking" is that dealing with approaching stopped vehicles, or is that more with the way it deals with slower cars? I have learned to just do my own braking on stopped cars when travelling over 35mph to save myself and my passengers the stress it causes, lol.

I would like to see it act more natural in scenarios where you are going 65 and approaching a car going 60. rather than accelerate right up to its set range, then brake firmly, just to accelerate again as the gap widens. I would love to see it coast in a bit. Not sure if that's possible.

 

[Ajzride]

When you say "to fix the acceleration and braking" is that dealing with approaching stopped vehicles, or is that more with the way it deals with slower cars? I have learned to just do my own braking on stopped cars when travelling over 35mph to save myself and my passengers the stress it causes, lol.

I would like to see it act more natural in scenarios where you are going 65 and approaching a car going 60. rather than accelerate right up to its set range, then brake firmly, just to accelerate again as the gap widens. I would love to see it coast in a bit. Not sure if that's possible.

In general the braking and gas using OpenPilot long are very binary, it doesn't have any coasting in it, which is what we sent them code to fix. It definitely make it more natural.

 

[Ajzride]

Any effort put into trying to maximize regen on the PB? Just a variable to think about.

We just send a positive or negative acceleration signal, along with a gas/brake/coast bit. Ford logic determines whether to use regen or pads for braking.

 

[travisN000]

I have a few sliding mounts printed up, but I’m waiting on a new batch of couplers. Send me a message.

I just bought a used comma 3x for a pretty significant discount over the current sale price, and need to order the harness, mount, USB, etc.. Is the comma 8 degree mount recommended, or are you still producing a better one?

Also, I think I've seen a few amazon links for USB cables as I've watched this thread... is there a current favorite with the right length and angle?

Thanks!

EDIT:
..maybe this info can be added to the OP as well?

 

[Ajzride]

I just bought a used comma 3x for a pretty significant discount over the current sale price, and need to order the harness, mount, USB, etc.. Is the comma 8 degree mount recommended, or are you still producing a better one?

Also, I think I've seen a few amazon links for USB cables as I've watched this thread... is there a current favorite with the right length and angle?

Thanks!

EDIT:
..maybe this info can be added to the OP as well?

An 8 degree mount is required. if you don't need to remove your Comma frequently, the one that ships with the comma is just fine. If you need to remove frequently (which I recommend if you live somewhere it gets over 90 degrees), then my 3D printable one can be made yourself, or I can ship you one.

Comma now sells a 9.5 foot cable in their store, I would use that one.

https://comma.ai/shop/obd-c-cable

Use the drop down to select the "long" version.

 

[goalieThreeOne]

I'm trying to convince myself to take the plunge while the sale is still going on. But I have some questions.

Is it necessary to have the entire screen visible, or can I tuck it up under the mirror a bit more? I don't really like how large the unit is and how much of my view is blocked. I would think that while driving I'd be focused more on the road itself and not what's on the screen.

Does the Comma 8 Degree Mount hold up well? I travel between two rough cities for work, and I would likely be taking the unit down and throwing it in my bag on these trips.

Has anyone tried building their own Q4 harness? It's been my experience that Ford will use readily available connectors (Molex, etc). A pair of those plus some terminal crimpers and wire and it should be easy enough to build. If we know the pinouts and wire specs, this seems pretty easy to replicate versus the $200 they're charging.

 

[Ajzride]

Is it necessary to have the entire screen visible, or can I tuck it up under the mirror a bit more? I don't really like how large the unit is and how much of my view is blocked. I would think that while driving I'd be focused more on the road itself and not what's on the screen.

You can put it up behind the mirror, You might have to power it up inside to adjust any settings though.

Does the Comma 8 Degree Mount hold up well? I travel between two rough cities for work, and I would likely be taking the unit down and throwing it in my bag on these trips.

The factory mount is very sturdy, but you should really make or buy a sliding dock if you want to take it down frequently.



https://www.thingiverse.com/thing:6297226

Has anyone tried building their own Q4 harness? It's been my experience that Ford will use readily available connectors (Molex, etc). A pair of those plus some terminal crimpers and wire and it should be easy enough to build. If we know the pinouts and wire specs, this seems pretty easy to replicate versus the $200 they're charging.

The harness is only $100, the harness box is $100, so the combo is $200, building your own harness would only save $100 max, minus the supplies. Also Last I checked, the sale is only if you buy the harness with the comma. I tried to build a harness for the lightning guys from scratch, here is my summary (I spent about $40 on supplies, so now you are down to $60 in savings, although that was for enough wire to make a 9 foot harness not an 8 inch one):

==============================================================

I was only able to find the female half available. For the male half, the only places that sell them require a minimum order of 300 of them. Perhaps Comma would be willing to sell use a few loose ones. I did by two females and used some header pins to turn one of the females into a male by adding a 3D printed surround to it, but it was really hokey, I wouldn't want to run it full time. The other problem is they use some proprietary pin setting tools which I couldn't find, and I had a lot of trouble inserting the pins cleanly. I've rewired 5 restored cars in my life, I've got a lot of automotive wiring experience, and I couldn't get the connectors to cleanly seat and pass through. Hence why I eventually hacked one up.

https://www.mouser.com/ProductDetail/TE-Connectivity/1924955-6?qs=M6jHmRuQorVt%2Bccjv9Htyg==&countryCode=US&currencyCode=USD

https://www.mouser.com/ProductDetail/TE-Connectivity-AMP/2288276-1?qs=iR2ablhfrmFQ0tikRKv%2B8w==&countryCode=US&currencyCode=USD

https://www.mouser.com/ProductDetail/Molex/501646-2600?qs=AcmJtBVhzkR3B7PmD3EBJQ==&countryCode=US&currencyCode=USD

https://www.mouser.com/ProductDetail/Molex/501647-1100?qs=MeCAwI9ZxERfLG%2BPYEOBVw==&countryCode=US&currencyCode=USD

https://www.te.com/usa-en/product-1438981-1.html

 

[Ajzride]

Maybe it doesn't come across so well in the video, but holy cow this is impressive.

 

[goalieThreeOne]

You can put it up behind the mirror, You might have to power it up inside to adjust any settings though.



The factory mount is very sturdy, but you should really make or buy a sliding dock if you want to take it down frequently.



https://www.thingiverse.com/thing:6297226



The harness is only $100, the harness box is $100, so the combo is $200, building your own harness would only save $100 max, minus the supplies. Also Last I checked, the sale is only if you buy the harness with the comma. I tried to build a harness for the lightning guys from scratch, here is my summary (I spent about $40 on supplies, so now you are down to $60 in savings, although that was for enough wire to make a 9 foot harness not an 8 inch one):

==============================================================

I was only able to find the female half available. For the male half, the only places that sell them require a minimum order of 300 of them. Perhaps Comma would be willing to sell use a few loose ones. I did by two females and used some header pins to turn one of the females into a male by adding a 3D printed surround to it, but it was really hokey, I wouldn't want to run it full time. The other problem is they use some proprietary pin setting tools which I couldn't find, and I had a lot of trouble inserting the pins cleanly. I've rewired 5 restored cars in my life, I've got a lot of automotive wiring experience, and I couldn't get the connectors to cleanly seat and pass through. Hence why I eventually hacked one up.

https://www.mouser.com/ProductDetail/TE-Connectivity/1924955-6?qs=M6jHmRuQorVt%2Bccjv9Htyg==&countryCode=US&currencyCode=USD

https://www.mouser.com/ProductDetail/TE-Connectivity-AMP/2288276-1?qs=iR2ablhfrmFQ0tikRKv%2B8w==&countryCode=US&currencyCode=USD

https://www.mouser.com/ProductDetail/Molex/501646-2600?qs=AcmJtBVhzkR3B7PmD3EBJQ==&countryCode=US&currencyCode=USD

https://www.mouser.com/ProductDetail/Molex/501647-1100?qs=MeCAwI9ZxERfLG%2BPYEOBVw==&countryCode=US&currencyCode=USD

https://www.te.com/usa-en/product-1438981-1.html

Thanks for the response! Sounds like the harness is a no go. I have a friend with a 3D printer so that takes care of that. And opening up the windshield makes this a lot more palatable.

 

[Ajzride]

Thanks for the response! Sounds like the harness is a no go. I have a friend with a 3D printer so that takes care of that. And opening up the windshield makes this a lot more palatable.

be sure he uses ABS or ASA. PETG or PLa will melt sitting in a windshield.

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