Comma AI self driver assistant

[galstaf]

Can't you program the MyQ to activate via a HomeLink button on the visor?

Not for commercial gates. I haven't tried super hard, but the instructions for the regular remotes didn't work.

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[ZheWiz]

After playing with a real FitCamX I ordered just for this activity,, I've decided that the best path is very similar to what @Ramblinman86 already posted. The FitCamX is really light and can be moved without worry of leverage on the mount. I'm going to design a mount that moves the FCX up and to the drivers side, so that it stays hidden behind the mirror. The mount will be super simple, and so cheap to make that I'm going to be giving it away. If you want one, you'll just need to cover the cost of shipping. If you order a dock, it'll get thrown in the package with the dock.

Now THIS I would be interested in!! My Radar Detector is behind the mirror on the passenger side, and I don't want to move that too. The original bracket pic would have made me do that. If instead you move the FitCamX to the driver's side, I'm all in. That's exactly what I was going to do using 3m tape.

 

[Ajzride]

Now THIS I would be interested in!! My Radar Detector is behind the mirror on the passenger side, and I don't want to move that too. The original bracket pic would have made me do that. If instead you move the FitCamX to the driver's side, I'm all in. That's exactly what I was going to do using 3m tape.

the problem I’m finding is that it blocks the comma from docking If it’s on the drivers side. Still playing with ideas.

 

[ZheWiz]

the problem I’m finding is that it blocks the comma from docking If it’s on the drivers side. Still playing with ideas.

Yeah, I was worried about this exact issue which is why I haven't done anything yet. It's still COLD here in the Northeast, so not a good time to mess with 3M tape. I need to disconnect everything and test fit to make sure the comma can still slide left, out of the dock. I assumed I'd have to move the FitCamX up and the C4 down a bit, but haven't played yet. Brrrr. Too cold still.

That's the other advantage if you come up with a dock. I won't need to wait for temps to increase or for someone to loan me their heated garage.

 

[Ajzride]

Here is my current design, still need to clean it up a little to look more sleek. It's a slight modification of @Ramblinman86. It mounts it higher and adds a little angle to it for a more flush seat. The final version will be printed in a GF ASA to match the docks I sell.

It's not visible from the driver's seat, so no additional blocked view.
It's not blocked by a C3X or C4

 

[ZheWiz]

Passenger side. Bummer.

 

[Ajzride]

Passenger side. Bummer.

you have C3X or 4?

 

[ZheWiz]

you have C3X or 4?

C4

 

[Ajzride]

you have C3X or 4?

C4

drivers side would be okay if mount the c4 low enough. Its not hard for me to mirror this design for you.

 

[Ramblinman86]

Passenger side. Bummer.

Super easy to invert the print, two mouse clicks. Ajzride's is cleaner so I will let him invert his, but I don't see anything that would prevent it from working on either side, unless you are using the slide dock like he mentioned that might have clearance issues but I don't know as I'm not using that one

 

[ZheWiz]

drivers side would be okay if mount the c4 low enough. Its not hard for me to mirror this design for you.

That would be awesome. I do have your c4 sliding dock, so as you mentioned, clearance for the slide is the only issue. I’d definitely buy the mirrored version.

 

[Ajzride]

That would be awesome. I do have your c4 sliding dock, so as you mentioned, clearance for the slide is the only issue. I’d definitely buy the mirrored version.

Just send me a DM. I should start shipping some early next week. I'm designing them to take a 10-24 heat insert instead of a self-tapping screw, and I'm waiting on that hardware to come in. Should be here Saturday.

 

[galstaf]

I got my C4 in today finally. It was a bit of a PITA to get going from accessing the F150 IPMA hidden deep under the dash to the device not recognizing the truck. I had a lot of CAN bus and vehicle not recognized errors. however I eventually got it going by also giving it constant power so it could survive a truck reboot. Not supposed to be necessary, but mine didn't work until I did that.

I loaded the Blue Pilot 4 model and have been playing around in the sunnypilot sunnylink app that connects with the device.
There are a TON of settings and I don't really understand a lot of them.

I connected to SSH from Windows powershell on my laptop, and copy and pasted this script which should get most of the parameter for the C4 without a bunch of extraneous stuff.


If anyone has a fabulous working setup for a lightning running on C4 with BP4 stock model, please run this script and share your settings if you would!


cd /data/params/d
for f in *; do
if [ -f "$f" ]; then
size=$(stat -c%s "$f")
if [ "$size" -lt 128 ]; then
val=$(cat "$f" 2>/dev/null | tr -d '\0')
if [[ "$val" =~ ^[0-9\.\-]+$ ]]; then
echo "$f = $val"
fi
fi
fi
done



These are my results. Like I said, I have very little idea what I am doing or what the settings mean, so if anyone with some experience can suggest anything useful, please feel free!
The settings have some values in there for several different makes of vehicle. The device is offroad right now as it is plugged into my laptop.


AdbEnabled = 1
AlphaLongitudinalEnabled = 1
AlwaysOnDM = 0
AthenadPid = 48280
AutoLaneChangeBsmDelay = 0
AutoLaneChangeTimer = 0
BlindSpot = 1
BlinkerMinLateralControlSpeed = 20
BlinkerPauseLateralControl = 0
BootCount = 11
Brightness = 1
CarBatteryCapacity = 30000000
ChevronInfo = 4
CompletedSunnylinkConsentVersion = 1.0
CompletedTrainingVersion = 0.2.0
CustomAccIncrementsEnabled = 1
CustomAccLongPressIncrement = 5
CustomAccShortPressIncrement = 2
custom_path_offset = 0.0
custom_profile = 1
DeviceBootMode = 0
DevUIInfo = 1
disable_BP_lat_UI = 0
DisableUpdates = 0
DisengageOnAccelerator = 0
DynamicExperimentalControl = 1
EnableCopyparty = 1
enable_human_turn_detection = 1
enable_lane_full_mode = 1
enable_lane_positioning = 1
EnableSunnylinkUploader = 1
ExperimentalMode = 1
GithubRunnerSufficientVoltage = 0
GreenLightAlert = 1
GsmMetered = 1
HasAcceptedTerms = 2
HasAcceptedTermsSP = 1.0
HideVEgoUI = 1
HyundaiLongitudinalTuning = 0
IntelligentCruiseButtonManagement = 1
InteractivityTimeout = 0
IsDevelopmentBranch = 0
IsDriverViewEnabled = 0
IsEngaged = 0
IsLdwEnabled = 1
IsOffroad = 1
IsOnroad = 0
IsReleaseBranch = 0
IsReleaseSpBranch = 0
IsRhdDetected = 0
IsTestedBranch = 0
LagdToggle = 1
LagdToggleDelay = 0.2
LagdValueCache = 0.41999998688697815
lane_change_factor_high = 0.9500000000000001
LaneTurnDesire = 0
LaneTurnValue = 19.0
LastAthenaPingTime = 14501584142858
LastSunnylinkPingTime = 14506083349540
LastUpdateRouteCount = 17
LastUpdateUptimeOnroad = 11037.345767572064
LC_PID_gain_UI = 3.0
LeadDepartAlert = 1
LongitudinalManeuverMode = 1
LongitudinalPersonality = 1
Mads = 1
MadsMainCruiseAllowed = 1
MadsSteeringMode = 0
MadsUnifiedEngagementMode = 1
MapSpeedLimit = 0.0
MaxTimeOffroad = 1800
ModelManager_DownloadIndex = 0
ModelManager_LastSyncTime = 14453182263088
ModelRunnerTypeCache = 2
NetworkMetered = 0
NeuralNetworkLateralControl = 0
OnroadScreenOffBrightness = 85
OnroadScreenOffControl = 1
OnroadScreenOffTimer = 48
OnroadUploads = 0
OpenpilotEnabledToggle = 1
OsmDbUpdatesCheck = 0
OsmDownloadedDate = 1772161507.447057
OsmLocal = 1
pc_blend_ratio_high_C_UI = 0.4
pc_blend_ratio_low_C_UI = 0.4
PlanplusControl = 1.0
PrimeType = 5
QuickBootToggle = 1
QuietMode = 0
RainbowMode = 1
RecordAudio = 0
RecordAudioFeedback = 0
RecordFront = 0
RouteCount = 17
send_hands_free_cluster_msg = 1
ShowAdvancedControls = 1
ShowDebugInfo = 0
show_lead_speed = 1
ShowTurnSignals = 1
SmartCruiseControlMap = 1
SmartCruiseControlVision = 1
SpeedLimitMode = 1
SpeedLimitOffsetType = 2
SpeedLimitPolicy = 4
SpeedLimitValueOffset = 8
SshEnabled = 1
StandstillTimer = 1
SubaruStopAndGo = 0
SubaruStopAndGoManualParkingBrake = 0
SunnylinkdPid = 48308
SunnylinkEnabled = 1
SunnylinkTempFault = 0
TeslaCoopSteering = 0
TorqueParamsOverrideEnabled = 0
TorqueParamsOverrideFriction = 0.1
TorqueParamsOverrideLatAccelFactor = 2.5
ToyotaEnforceStockLongitudinal = 0
TrueVEgoUI = 1
UbloxAvailable = 1
UpdateAvailable = 0
UpdateFailedCount = 0
UpdaterFetchAvailable = 0
UptimeOffroad = 22017.91744365645
UptimeOnroad = 11037.345767572064
vbatt_pause_charging = 12.2
Version = 2025.003.000


I have an AI description of these settings applicable to the F150 specifically if anyone wants me to paste it. I assume it is based on some sort of fact.. it sounds credible at least ;-)

 

[Ajzride]

I eventually got it going by also giving it constant power so it could survive a truck reboot. Not supposed to be necessary, but mine didn't work until I did that.

In the "vehicle" menu of sunnylink, force your truck ID to a lightning, then it should be fine without the power.

 

[galstaf]

In the "vehicle" menu of sunnylink, force your truck ID to a lightning, then it should be fine without the power.

Hi Alan, Good morning!

I did that first even tho is was saying the truck wasn't recognized and given some of the errors others had seen.

However it seemed pretty stable once it got going. I had the truck with the comma 4 go round in a big circle on a winding dark rainy hilly poorly marked rural(ish) street. It couldn't really see (anything) that well but did ok at very low (10mph or less) speeds avoiding parked cars. However it would then just drive off the road on the other side of the street because it lost the road. Needed a lot of driver intervention.
I do need it to be more forceful with the steering torque going round corners as it wants me to take over mid corner.
However this was with no offline maps installed. I put the US opensource offline maps on late last night.


On the highway it did fine except for lane position needs tweaking some as it is riding too far to the right.

The C4 is mounted dead center just below the mirror mount as recommended. Obviously needs a lot more testing but pretty good for a first venture out.

Any recommendations? Am I running the best model for a 22 Lightning Lariat? I think I did everything you recommended.

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