Comma AI self driver assistant

[TouchTom]

the coupler is required and you can order here: https://bluepilot.dev/

If you plan to remove the device frequently you can order the dock and it can include the coupler. Dock is not required if you leave device mounted 100% of the time.

Thank you

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[greeches]

Hey there! I just got a comma 4, got BluePilot 6 on there and even manually set my truck successfully (22' F150 Lightning w/ Bluecruise). I have the coupler installed and have tried changing ports, cables and re-seating all of it. It'll even let me 'train' the system, but it keeps flashing "Cruise fault" over the screen and never actually functions. Any thoughts?

 

[Ajzride]

Hey there! I just got a comma 4, got BluePilot 6 on there and even manually set my truck successfully (22' F150 Lightning w/ Bluecruise). I have the coupler installed and have tried changing ports, cables and re-seating all of it. It'll even let me 'train' the system, but it keeps flashing "Cruise fault" over the screen and never actually functions. Any thoughts?

A) The lightning coupler is orientation specific, it needs to be properly installed
B), you said that you tried "changing ports" If you plugged your Q4 Harness into the grey port on the IPMA, then you fried the harness box and need a new harness box.

Vidoes showing the IPMA really well and which port to use and not use:

https://bluepilot.dev/2025/08/15/canfd-installation-video-links/

Harness box if you did plug into the grey port:

https://comma.ai/shop/harness-box

 

[greeches]

A) The lightning coupler is orientation specific, it needs to be properly installed
B), you said that you tried "changing ports" If you plugged your Q4 Harness into the grey port on the IPMA, then you fried the harness box and need a new harness box.

Vidoes showing the IPMA really well and which port to use and not use:

https://bluepilot.dev/2025/08/15/canfd-installation-video-links/

Harness box if you did plug into the grey port:

https://comma.ai/shop/harness-box

Nothing fried, I plugged into the correct port. I just mean to say I re-seated them to ensure they clicked as a troubleshooting step.

The ports I meant were the USB-C ports from the adatper to the coupler, and from coupler to the comma 4. The port is clearly labeled which side should go to the lightning. It did clear errors on boot, but when the comma launches I get errors on the Comma. (and disabled features on the vehicle)

If I unplug it, everything works again.

 

[BluesClues]

Nothing fried, I plugged into the correct port. I just mean to say I re-seated them to ensure they clicked as a troubleshooting step.

The ports I meant were the USB-C ports from the adatper to the coupler, and from coupler to the comma 4. The port is clearly labeled which side should go to the lightning. It did clear errors on boot, but when the comma launches I get errors on the Comma. (and disabled features on the vehicle)

If I unplug it, everything works again.

If you keep seeing faults after reseating try flipping the one side of the cables over at a time. I had a bunch of random errors and flipping the connection points fixed things.

just to clarify further - not only is there orientation of direction, there’s an A side and B side of the coupler. So you need to figure out if your cables are going into the right side or if they require a 180deg flip

 

[greeches]

If you keep seeing faults after reseating try flipping the one side of the cables over at a time. I had a bunch of random errors and flipping the connection points fixed things.

just to clarify further - not only is there orientation of direction, there’s an A side and B side of the coupler. So you need to figure out if your cables are going into the right side or if they require a 180deg flip

Thank you! I've flipped the USB cables so the comma was facing up, now I don't get any errors, but my comma 4 is just stuck on "vehicle sensors calibrating " ... Im not able to train it. (Bp-6)

 

[Ajzride]

Thank you! I've flipped the USB cables so the comma was facing up, now I don't get any errors, but my comma 4 is just stuck on "vehicle sensors calibrating " ... Im not able to train it. (Bp-6)

Keep driving. It should calibrate within 30 minutes or so. There might be tons of codes in the system from all the errors.

If it doesn't clear up after 30-60 minutes, you could consider a re-install.

 

[greeches]

Keep driving. It should calibrate within 30 minutes or so. There might be tons of codes in the system from all the errors.

If it doesn't clear up after 30-60 minutes, you could consider a re-install.

Awesome, I'll try driving around and report back! Thank you

 

[greeches]

Awesome, I'll try driving around and report back! Thank you

UPDATE: IT WORKS!

So as said in other threads, the orientation of the USB-C cables is extremely important.

Here is what worked for my 22' Lightning

Comma 4 came with:

• Short USB cable (has comma emblem on one side of USB connector)
• Long USB cable (has comma emblem on one side of USB Connector)
• Ford Harness
• OBD -> Power cable
• Comma 4

I had to purchase:

• Lightning Coupler

Physical Configuration:
I did not remove the handle on the side panel, I just stuck my cables behind the weather sealing strip which makes install a breeze. Just be sure to center your device on the window under the rear-view mirror and make sure you can see it (and the camera can see you) from under the rear-view mirror.

1.) Harness to "black connector" in junction box & connect the factory connection to the female connector on the harness
2.) Short USB with Comma facing away from the 3M tape (or as I call it 'facing up') connected to Harness USB-C female port
3.) Coupler with Lightning bolt and comma both facing the same direction to the other end of the short cable
4.) The Long cable with the comma facing UP (same side as lightning bolt) to the other end of the coupler
5.) Other end of long cable connected to comma (with Comma facing UP for USB-C connector)
6.) For setup, use the OBD connector to power the comma 4 for the software setup phase, assures power is always on even if vehicle is turned off

Software setup:
1.) Install OpenPilot which is native on the device (this includes setting up Wifi, downloading and installing OpenPilot and installing any updates)
2.) Ensure OpenPilot install is complete
3.) Choose to uninstall OpenPilot
4.) Restart configuration with "custom software"
5.) Setup wifi, and type bit.ly/bp-6 as your software install link
6.) Download and install BluePilot 6.0
7.) Setup Vehicle type from Menu
8.) Reboot
9.) Start Driving and it should start calibrating (If not, choose re-calibrate from Device menu)
10.) Setup SunnyLink to play with configuration options

Note: If the software install freezes, you can reboot it by removing and re-insterting the cable and starting over. Sometimes it went through fine, other times it needed a reboot.


Hope this helps!

 

[BluesClues]

For everyone’s reference, you can simply apply USBC power to the Comma and set it up inside near stable WiFi before doing the install.

 

[steelersmb]

FYI today I pulled a high voltage error. did you resolve this?

also WD40 with recommended settings and calibration is incredible. Truly like blue cruise everywhere haha.

edit: it’s possible the HVB FAULT threw bc of an update that occurred overnight. First time with an update with comma installed

edit 2: HV fault cleared after sitting still for 2h and then restarting.

Are these the settings you used: Setup the recommended WD40 (Advanced lane position, -0.05 lane offset and default tune)

 

[Lake Placid Lightning]

Are these the settings you used: Setup the recommended WD40 (Advanced lane position, -0.05 lane offset and default tune)

The recommended settings can be found here:

https://bluepilot.dev/2026/02/28/bluepilot-specific-parameters-and-tuning/

 

[BluesClues]

Are these the settings you used: Setup the recommended WD40 (Advanced lane position, -0.05 lane offset and default tune)

yup the above post link is correct. I had to set my offset to -0.10 bc of how my lanes are in the local area and my preference driving toward that side.

otherwise mine are as recommended and have been running 2 weeks. I get a random quirky situation or feel too close to big vehicles but you should be paying attention no matter what. It’s a lot like blue cruise but everywhere.

 

[josh27292]

ODB2 is optional for F150. It is only there to keep the device powered between drives. The IPMA provides power when the truck is started. If you want power between drives, you can use an ODB2 port splitter.

What is the benefit of keeping the C4 powered on using the ODB2 port when the truck is powered off? Is it just to help speed up the power up cycle of the C4?

 

[Lake Placid Lightning]

What is the benefit of keeping the C4 powered on using the ODB2 port when the truck is powered off? Is it just to help speed up the power up cycle of the C4?

From the Comma.ai website:

With a comma power:

• The start and end of every drive are recorded.
• Your comma four remains powered and online while the car is off.
• Your comma four downloads updates while the car is off.

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