Comma AI self driver assistant

[chriserx]

right, I get that but it's ok to drive without the dock? like there won't be any CANBUS errors?

The only thing I'm unsure of is, say the resistance coupler is removed, along with the comma will any errors pop up, say for instance the coupler was put into the slide out portion of the dock. I can't seem to remember definitively what happened before I got my coupler. Anyway, just a thought before you get setup and encounter a problem. I wanna say it's fine either way though.

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[Ajzride]

The only thing I'm unsure of is, say the resistance coupler is removed, along with the comma will any errors pop up, say for instance the coupler was put into the slide out portion of the dock. I can't seem to remember definitively what happened before I got my coupler. Anyway, just a thought before you get setup and encounter a problem. I wanna say it's fine either way though.

Uncle Tony answered this earlier. You need the coupler anytime the long usb cable is connected under the dash

 

[Shmoe]

The only thing I'm unsure of is, say the resistance coupler is removed, along with the comma will any errors pop up, say for instance the coupler was put into the slide out portion of the dock. I can't seem to remember definitively what happened before I got my coupler. Anyway, just a thought before you get setup and encounter a problem. I wanna say it's fine either way though.

Pro-tip, if you wanna block the harness from seeing anything whatsoever, try introducing an apple usb-c cable into the mix

 

[galstaf]

Uncle Tony answered this earlier. You need the coupler anytime the long usb cable is connected under the dash

Sorry for the newbie question... but to clarify... Did Comma fix the newer C4 kits so there is no damping/terminating resistor needed? Or does it still need. it? I feel like someone said it does, but I can't find where I saw that.

If a resistor connector is still needed, can some send me a link on where to get one?

Is a quick release dock necessary for C4?

 

[UncleTony]

Sorry for the newbie question... but to clarify... Did Comma fix the newer C4 kits so there is no damping/terminating resistor needed? Or does it still need. it? I feel like someone said it does, but I can't find where I saw that.

If a resistor connector is still needed, can some send me a link on where to get one?

Is a quick release dock necessary for C4?

The comma itself doesn’t effect the canbus it’s the harness, which is the same on the C3 and C4.

You can get a coupler here:

https://bluepilot.dev/lightning-coupler-order-page/

The quick release isn’t required, but nice to have if you don’t want to leave it on the windshield 24/7.

For the dock:

https://bluepilot.dev/dock-order-page/

 

[KingStraasha]

Does anyone know if we should be using "Use Custom Tuning Profile" or "Enable Advanced Lane Positioning" for our lightnings? I looked everywhere I cannot find a specific answer.

 

[Ajzride]

Does anyone know if we should be using "Use Custom Tuning Profile" or "Enable Advanced Lane Positioning" for our lightnings? I looked everywhere I cannot find a specific answer.

only use those if you have a lateral control
issue. all of that information exists on the F150gen14 forum and GitHub, but neither are easy to find it on. I’ve literally been working on moving it all to the BluePilot website this afternoon. It’s going to take a few days to get it all put together though.

 

[KingStraasha]

Thanks, I am using lateral control but wasn't sure the specific settings required for the Lightning. As you said, hunting for the information can be hard and I am not sure what info from BP 2, 3, or 4 still apply to BP 5.

 

[Ajzride]

Here is a quick and dirty dump from GitHub:

• [Lane Change Factor] - This is a tunable reduction in lane change signal to enable less aggressive lane changes. Lower numbers equal slower lane changes. Too low and the lane chagne might fail.
• [Use Custom Tuning Profile] - There are 2 preset tuning profiles which are automatically selected based on the vehicle driven (CAN or CANFD). Toggling this parameter will enable custom tuning values for lateral control
• [Predicted Curvature Blend Ratio Low] - This setting allows for a blend of desired curvature and predicted curvature on straight aways to achieve smoother signals. Lower numbers will make steering more aggressive. To tune this value begin to increase the blend ratio until the car starts to "wander" or experience a slow ping pong effect at highway speeds. If using advanced lateral control, leave it at a wander, it is not desired for this number to be low enough for complete control, because if the signal is too strong it will conflict with the other signals. If not using advanced lateral control, then lower the PC Blend Ratio back down until wadnering stops. Default Values are CANFD = 0.65, CAN = 0.4
• [Predicted Curvature Blend Ratio High] - This setting allows for a blend of desired curvature and predicted curvature in curves to achieve smoother signals. Lower numbers will make steering more aggressive. To tune this value begin to decrease the blend ratio until the car starts to ping pong inside of curves, then increase slightly until the behavior stops. Default Values are CANFD = 0.4, CAN = 0.2
• [Enable Advanced Lane Positioning] - This settings enables the OEM style logic with path_offset and path_angle variables. This allows for custom in lane positioning. Disabling this setting will revert to only using curvature and curvature_rate which was the previous behavior in bluepilot 1.0
• [Enable Legacy Style Lanefull Mode] - This setting enables the legacy style lanefull mode which will use lane lines to determine the ideal path for the vehicle rather than Commas model. This setting is only applicable when linelines are strong and the lane width is not too wide.
• [In lane offset] - This setting allows for custom in lane positioning. Negative numbers will move the car to the left, positive numbers will move the car to the right.
• [Low Curvature PID Gain] - This setting controls how aggressive the path_angle signal is applied to correct for deviations from the ideal path. Default Values are CANFD = 3.0, CAN = 5.0

 

[Drayday55]

If it hasn't already been said before thank you AJ and Uncle Tony for all the work to get our platform working. Crazy amount of work and effort.

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