Comma AI self driver assistant

[UncleTony]

For those of you considering a C4 purchase and wondering about the 4-12 week delivery stated on Comma's website, I purchased a C4 on February 24, 2026 and received tracking info today that my C4 will arrive on March 17, 2026.

That would be exactly 3 weeks from purchase to delivery.

Mine supposedly shipped Feb 24th and I ended up contacting them after no activity since then and now mine will also be delivered March 17th

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[UncleTony]

Also, just for an update. The straight lightning couplers will be discontinued for now. I am moving to 90s for all couplers since they can be used for both dock integration and inline. The 90 can be used inline in the mirror housing or possibly in the footwell.

I have about 8 of the straight couplers left and will be sending out the first batch of 90s in about a week or two when they make it through customs.

 

[solidorange]

... Minimum requirements to use Comma in Fords is ACC with lane centering ability. Lane keeping on most stock Pro and XLT trims will not work with a Comma without adding a radar module and some Forscan work…

What is physically different between the hardware installed to support lane centering vs keeping? It seems like it may be the radar module, but I assumed LKA used a radar already. I have a ‘23 XLT 312A with ACC w/ LKA.
If so, does this guide generally describe the upgrade from Lane Keep Assist to Lane Centering?

 

[Ajzride]

What is physically different between the hardware installed to support lane centering vs keeping? It seems like it may be the radar module, but I assumed LKA used a radar already. I have a ‘23 XLT 312A with ACC w/ LKA.
If so, does this guide generally describe the upgrade from Lane Keep Assist to Lane Centering?

On CANFD the only difference is radar. If you have radar the comma will work.

 

[Lake Placid Lightning]

I purchased a C4 on February 24, 2026 and received tracking info that my C4 will arrive on March 17, 2026.

My C4 arrived today (a day early) and I installed the Q4 harness, FitCamX mount, sliding C4 dock, and the C4 w/dongle. During setup, Sunnypilot recognized my Lightning automatically and I loaded the Notre Dame model.

Much thanks to @Ajzride for 3D printing both the sliding dock and the FitCamX mount.

Just got back from a test drive on some local roads and it worked great!

I think the C4 dock would benefit from a 90 degree USB-C coming out the the windshield piece when combined with the FitCamX mount because the USB-C wire has to awkwardly bend that way just to head up towards the headliner. See photo below.

 

[Ajzride]

I think the C4 dock would benefit from a 90 degree USB-C coming out the the windshield piece when combined with the FitCamX mount because the USB-C wire has to awkwardly bend that way just to head up towards the headliner. See photo below.

this one will work.

https://www.amazon.com/dp/B09WCZZB5F?ref_=ppx_hzsearch_conn_dt_b_fed_asin_title_1

 

[Lake Placid Lightning]

this one will work.

https://www.amazon.com/dp/B09WCZZB5F?ref_=ppx_hzsearch_conn_dt_b_fed_asin_title_1

Much better.

 

[Ajzride]

The new lightning-specific docks will have a 90 built in already once the parts clear customs

 

[Lake Placid Lightning]

Was very happy to see the Blue Cruise "Hands-Free" logo on my dash after engaging the C4.

I have the Lariat SR that came without Blue Cruise (and rain sensing wipers, moonroof, bed scales, pro trailer, power tilt steering wheel, PAAK, heated rear seats).

I was able to add the rain sensing wipers with the help of @Jesse-Infotainment .

 

[hakimstl]

Hello can someone please help. I just bought my first comma a c4 with the coupler and all accessories
it was working fine for the first few days then Sunday when at the drive in it threw all the error codes like if you didn’t have a coupler and wouldn’t restart until removed completely I rebooted restored swapped and switch every wire including the harness as I have an extra one does anyone know what the problem could be
I see their are two open recalls on my truck could that be the problem

 

[Lake Placid Lightning]

Hello can someone please help. I just bought my first comma a c4 with the coupler and all accessories
it was working fine for the first few days then Sunday when at the drive in it threw all the error codes like if you didn’t have a coupler and wouldn’t restart until removed completely I rebooted restored swapped and switch every wire including the harness as I have an extra one does anyone know what the problem could be
I see their are two open recalls on my truck could that be the problem

Make sure all the USB connections are tight. They should "click" when inserted.

I've seen advice given to others to "flip" one end of the USB-C plug. Unplug, twist 180 degrees, re-insert.

You have a coupler, right?

 

[Ajzride]

Hello can someone please help. I just bought my first comma a c4 with the coupler and all accessories
it was working fine for the first few days then Sunday when at the drive in it threw all the error codes like if you didn’t have a coupler and wouldn’t restart until removed completely I rebooted restored swapped and switch every wire including the harness as I have an extra one does anyone know what the problem could be
I see their are two open recalls on my truck could that be the problem

definitely not related to a recall.

 

[Ajzride]

Hello can someone please help. I just bought my first comma a c4 with the coupler and all accessories
it was working fine for the first few days then Sunday when at the drive in it threw all the error codes like if you didn’t have a coupler and wouldn’t restart until removed completely I rebooted restored swapped and switch every wire including the harness as I have an extra one does anyone know what the problem could be
I see their are two open recalls on my truck could that be the problem

The quickest test is to take the device off of the windshield, use just the short USB provided by comma to connect to the harness box under the dash. You can't drive like that, but whether you get errors will help determine if the problem is in the long USB, or in the connection to the car.

 

[hakimstl]

Thanks will try tomorrow

 

[ENDianDigital]

Hey guys, new to this thread but not new to the forum or Comma

I have the C4 installed and working in my '23 Lariat, but I'm wondering: is longitudinal (e2e vision I think it's called) actually viable with any BP build or training model?

I decided to go the Comma route due to my frustration with the jerkiness of the stock adaptive cruise, but I'm currently running BP 6.0.1 with WD40 and am getting pretty lackluster results with longitudinal. If anything, I think it's more just-got-a-driver-permit level of jerkiness.

Totally open (and hoping for) the idea that I'm just not dialed in yet, but curious to hear what the experts here have to say.

I've heard some things from the devs that we're in store for a sea change in e2e capability, and I'm here for it, I'm just eager to have it operational in my truck.

Not trying to dog on Comma at all; I've been a fan for a long time (had it in my old Bolt!) and a lot of things are clearly superior (MADS for sure).

Thanks in advance!

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