Comma AI self driver assistant

[ZheWiz]

you have C3X or 4?

C4

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[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.

 

[Ajzride]

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.

That's weird for sure. Perhaps it failed to push from sunnylink to the device.

I do need it to be more forceful with the steering torque going round corners as it wants me to take over mid corner.

you have hit the comma safety limits, they prevent it from being more forceful so it can't drive you off the road and you can't fight it. This is why we say the Comma is a BlueCruise alternative, not a Tesla FSD alternative.

However this was with no offline maps installed. I put the US opensource offline maps on late last night.

maps don't help steering, that is 100% vision. Only things maps can be used for is speed adjustment.

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?

A) some models hug more to one side or the other, play with models before you start adjusting tuning. Many people say that Notre Dame fixes hugging right.
B) if models don't help

menu --> bluepilot --> enable advanced lane positioning
menu --> bluepilot --> in-lane offset = -0.1

 

[galstaf]

menu --> bluepilot --> in-lane offset = -0.1

If I have been informed correctly this means move 10 centimetres to the left?

So I have been tweaking the list of settings (shown above) to make it more readable and useful to put on the forum. Hopefully useful to other newbies.
This is what AI has come up with for the sunnypilot settings. Is it correct, or correctish?

enable_lane_positioning = 1
Type: Boolean (On/Off)
What it does:
Enables smart lane positioning within the lane, not just simple centerline following.
0 = Basic centering only.
1 = Intelligent lane positioning that can slightly shift within the lane (for example, away from large adjacent vehicles, or toward the center of a narrow lane).
Recommended range:
1 is recommended, as long as the behavior feels natural to you.


custom_path_offset = 0.0
Type: Float (meters)
What it does:
Applies a fixed lateral offset to the path relative to the lane center.
Negative values move the car left.
Positive values move the car right.
Example:
0.2 → 20 cm to the right of lane center.
Recommended range:
Typically between −0.5 and +0.5 meters.
For most users, 0.0 is recommended so the car stays in the center

 

[Ajzride]

If I have been informed correctly this means move 10 centimetres to the left?

So I have been tweaking the list of settings (shown above) to make it more readable and useful to put on the forum. Hopefully useful to other newbies.
This is what AI has come up with for the sunnypilot settings. Is it correct, or correctish?

enable_lane_positioning = 1
Type: Boolean (On/Off)
What it does:
Enables smart lane positioning within the lane, not just simple centerline following.
0 = Basic centering only.
1 = Intelligent lane positioning that can slightly shift within the lane (for example, away from large adjacent vehicles, or toward the center of a narrow lane).
Recommended range:
1 is recommended, as long as the behavior feels natural to you.


custom_path_offset = 0.0
Type: Float (meters)
What it does:
Applies a fixed lateral offset to the path relative to the lane center.
Negative values move the car left.
Positive values move the car right.
Example:
0.2 → 20 cm to the right of lane center.
Recommended range:
Typically between −0.5 and +0.5 meters.
For most users, 0.0 is recommended so the car stays in the center

i'm writing a full article on the parameters that will be finished this weekend, but I already posted most of them here:

https://www.f150lightningforum.com/...lf-driver-assistant.18266/page-90#post-646400

 

[galstaf]

i'm writing a full article on the parameters that will be finished this weekend, but I already posted most of them here:

https://www.f150lightningforum.com/...lf-driver-assistant.18266/page-90#post-646400

Aye... I already saw that one. It was helpful but being the nerdy type, I want to know what *all* the settings do and what their range is and so on. If it is OK, I will DM what I have so far via the AI. Maybe helpful for something that could help the engineering types out there.

 

[itsjmod]

Hey my brother’s name is Alan! That’s nifty.

If anyone cares about a solid setup, I use the WD40 model (located in legacy models) which doesn’t seem like it should be a good one but has been mentioned by the great Alan himself, so run with that.

It absolutely still is the best one. Not too aggressive, handles way more like a human than the others that I’ve tested. “Handles like a human” isn’t a bad thing, just means it isn’t so robotic and doesn’t worry me or other people by acting differently than the behavior they and I are already expecting.

The only other setting I changed was the in-lane positioning offset to +10. Comma device loves to hug that center line a little too close for my comfort but that’s subjective.

 

[Ajzride]

Hey my brother’s name is Alan! That’s nifty.

If anyone cares about a solid setup, I use the WD40 model (located in legacy models) which doesn’t seem like it should be a good one but has been mentioned by the great Alan himself, so run with that.

It absolutely still is the best one. Not too aggressive, handles way more like a human than the others that I’ve tested. “Handles like a human” isn’t a bad thing, just means it isn’t so robotic and doesn’t worry me or other people by acting differently than the behavior they and I are already expecting.

The only other setting I changed was the in-lane positioning offset to -10. Comma device loves to hug that center line a little too close for my comfort but that’s subjective.

A lane position that is negative would push you more to the left (towards center stripe in north america)

 

[itsjmod]

Meant +10 sorry edited

@Ajzride Does that mean it will also push you to the right on the interstate when in the left hand lanes?

Just curious cause if it’s not dynamic then what is the point

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