Comma AI self driver assistant

[Ajzride]

I just tried Dark Souls v2 on my 40 or so mile commute home, i was bouncing all over between the lines

I'm not sure what more I can do except maybe post every fifteen minutes that you have to watch the tuning video and call up the lateral debug screen to understand if it is a model issue or a control issue.

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[Ajzride]

I've found this happens if the comma has its power pulled while booting up. Requires a reinstall.

This specific error seems to be related to a bad clone, not a scons lock.

 

[Shmoe]

I'm not sure what more I can do except maybe post every fifteen minutes that you have to watch the tuning video and call up the lateral debug screen to understand if it is a model issue or a control issue.

Hey man I can only do so much behind the wheel like changing the model.. videos are a no go til i'm stationary

 

[BluesClues]

Saving folks from looking for github: https://github.com/BluePilotDev/bluepilot/tree/bp-7.0#whats-new-in-bp-70

BluePilot 7.0 is a major update synced with sunnypilot master (June 10, 2026, openpilot 0.11.2 base) on AGNOS 18.4, headlined by a second, selectable Ford lateral control scheme with full panda safety enforcement.


Angle-Primary Lateral Control (New)

A second Ford steering strategy, selectable at any time from the settings menu (no reinstall or reboot):

• Primary Control Variable selector - Choose between Curvature (the proven 4-signal strategy from previous releases) and Angle (path_angle as the primary actuator)
• Per-platform tuning built in - Separate gain defaults for CAN vehicles (Escape, Bronco Sport, Maverick, Edge), CAN-FD trucks (F-150, Lightning, Expedition, Ranger), and CAN-FD SUVs (Mustang Mach-E, Escape MK4.5)
• Variable lookahead - Model lookahead time adapts to speed and curve depth for earlier, smoother curve entry without early unwind at the apex
• PSCM saturation handling - Detects when the steering module is at its authority limit and manages the command to avoid snap corrections on release
• User feel adjustments - Low Speed and High Speed Adjustment Factors plus an angle-specific Lane Change Factor

Panda Safety for Angle Mode

Angle mode runs under full panda safety enforcement, not a bypass:

• The safety firmware corroborates that angle mode is genuinely engaged through a redundant CAN channel before accepting angle-mode frames
• A shadow curvature cross-check continuously validates the commanded steering intent against the measured vehicle motion
• path_angle rate-of-change limits are enforced independently on the panda, tuned to the actual control cadence
• Full regression test coverage in the safety test suite, validated against recorded real-world routes with a replay harness

Per-Scheme Tuning Parameters

Curvature and angle control no longer share any tuning values:

• Every lateral tuning parameter now belongs to exactly one scheme (curvature or angle)
• Switching schemes never overwrites or reuses the other scheme's tuning; each keeps its own values
• Existing settings migrate automatically on first boot after updating; no retuning required

Settings Menu Reorganization

• Nested lateral tuning sections - Lateral Tuning now contains collapsible Angle Tuning and Curvature Tuning sub-sections; the disable toggle and scheme selector sit at the top
• Controls for the unselected scheme stay visible but grey out, so both tuning sets are always discoverable (comma 3X)
• Cleaned up and reorganized comma 4 menus, with an on-device vehicle selector and integer/float value pickers on both platforms

SunnyLink Remote Settings

• Ford BluePilot settings under the "vehicle" panel in sunnylink - Configure BluePilot from the sunnylink interface, grouped by System, Vehicle, Visuals, Longitudinal Tuning, and Lateral Tuning
• Scheme-aware: angle and curvature tuning entries appear only when their control scheme is selected, with the same dependency gating as the on-device menu

Connect Backend

• Connect Backend - Choose Comma Connect (stock servers), Konik Stable (stable.konik.ai), or Offline Mode (unreachable hosts so uploads never succeed)
• Dongle ID switches automatically between Comma and Konik and is cached per backend, so switching is reversible in both directions with a reboot
• Pairing QR codes and instructions follow the selected backend

Visuals

• Rainbow Lane Lines - Inner lane lines become rainbow colored when longitudinal control is active
• Minimal Driving View - Hide the camera feed and show only lane lines and the model path
• Show Lateral Control Mode - Steering wheel icon overlay showing the active lateral scheme
• Steering arc fix for the comma 3X, with reduced false left-steer bias from road roll

Platform & Stability

• Synced with sunnypilot master (June 10, 2026): Chrysler CUSW, Rivian, Tesla, Honda, and Hyundai updates, lateralManeuverPlan support, updated panda/msgq/rednose submodules
• AGNOS 18.4 with the AGNOS thermal framework managing CPU frequency (replaces the static frequency cap)
• Display initialization fixes for git-clone installs (EGL/GLES driver re-pointing on boot)
• is_bluepilot() detection system; all stock file overrides are guarded and labeled for clean upstream merges
• Ford opendbc code refactored into a sunnypilot extension layer, with the safety test harness synced to upstream

BluePilot Settings & Tuning

The following settings are available in the BluePilot menu:


System:

• UI Debug Logging
• Connect Backend (Comma Connect / Konik Stable / Offline Mode)
• Preferred WiFi Network
• Clear Crashed Model
• Reset Menu Layout

Vehicle:

• Show BlueCruise UI on Cluster (supported digital dashes)
• 12V Battery Limit

Visuals:

• Hide Onroad Border
• Disable Lane Line Status Color
• Minimal Driving View
• Rainbow Lane Lines
• Show Blindspot Overlay
• Show Brake Status
• Show Confidence Ball (comma 3X)
• Animate Steering Wheel
• Show Lateral Control Mode
• Show Radar Lead Overlay (Ford ACC) with size selection
• Hybrid/EV Battery Status, Power Flow, gauge size and style options
• Lower Right Display selector (comma 4)

Longitudinal Tuning:

• Bypass BP Longitudinal Control
• Disable Downhill Compensation
• Disable Ford Radar (Vision-Only Leads)

Lateral Tuning:

• Disable BP Lateral Control
• Primary Control Variable (Curvature / Angle)
• Disable Lane Change Under Speed, with minimum speed selector
• Angle Tuning: Low Speed Adjustment Factor, High Speed Adjustment Factor, Lane Change Factor High
• Curvature Tuning: Human Turn Detection, Lane Change Factor High, Lane Positioning, In-Lane Offset, Lanefull Mode, Custom Tuning Profile, Predicted Curvature Blend Ratios (High/Low), Centering PID Gain

Previous Releases (6.x)

BluePilot 6.0 through 6.1 introduced the React-based BluePilot Portal PWA (home dashboard, routes with video playback and GPS maps, settings, and diagnostics panels), comma 4 support with its own onroad UI and menus, separate BluePilot/SunnyPilot BSM toggles, ACC coasting improvements, the on-device vehicle selector, Ford Edge MK2 support, and Ford ICBM improvements. For the complete version-by-version history, see BP_CHANGES.json.

 

[Whisper]

Did you do any tuning for CD210 on angle?

I just did a really short low speed drive and Dark Souls didn't feel right to me.

Did the 40 miles to work this morning. I had to adjust the steering down a couple times - i would like to be more specific, but a few of the taps I couldn't tell if it accepted because the screen kept changing. My best guess is around 5-7. On the sharp corners with the marked speed, the model definitely wants you to slow down - I guess they mark the recommended speed for a reason

There is some ping-pong on the long straights, especially with a wide laned highway. Being new to this I wouldn't say it was terrible, more of just something i could notice

 

[BluesClues]

On CD210 in my area, I can see the target path is not center to the lane lines (it's goal path is set toward the right side and it seems to be tracking well to the goal). I need to test other models to see if the goal path can be more centered.

 

[EVO]

On CD210 in my area, I can see the target path is not center to the lane lines (it's goal path is set toward the right side and it seems to be tracking well to the goal). I need to test other models to see if the goal path can be more centered.

Try Pop V2

 

[Whisper]

On CD210 in my area, I can see the target path is not center to the lane lines (it's goal path is set toward the right side and it seems to be tracking well to the goal). I need to test other models to see if the goal path can be more centered.

I didn't mention that because I thought I was dreaming it. The lighting was talking gentle curves about 6" closer to the right than the left. I'll try pop on the way home and take the same route

 

[josh27292]

I'm running BP7 with WD40 and its been nearly perfect, big upgrade for me over BP6. Prior to BP7 I could only run my Comma about 50% of my 30 commute to work (Mixed highway and country roads), with BP7 I was able to run my Comma roughly 90% to work today. Thanks ajzride and anyone else involved for your hard work.

 

[TXSlr]

Howdy, first post here. I purchased my comma ai 4x and blue pilot usb c last week. The comma ai came in yesterday, but I have no updates from blue pilot and no way to get ahold of anyone. If I have to wait, that’s fine, I just would like to know that what I bought is real and I’ll eventually get it lol

 

[Whisper]

My dock took about 3 days longer than the Comma to arrive. I would imagine the coupler to be about the same

 

[kvasiir]

My dock took about 3 days longer than the Comma to arrive. I would imagine the coupler to be about the same

It will also work fine without the coupler, you'll just get a bunch of errors/warnings on truck startup. They'll go away in a couple of seconds.

 

[Lake Placid Lightning]

@UncleTony

Howdy, first post here. I purchased my comma ai 4x and blue pilot usb c last week. The comma ai came in yesterday, but I have no updates from blue pilot and no way to get ahold of anyone. If I have to wait, that’s fine, I just would like to know that what I bought is real and I’ll eventually get it lol

 

[EVO]

@
UncleTony

 

[Ajzride]

Howdy, first post here. I purchased my comma ai 4x and blue pilot usb c last week. The comma ai came in yesterday, but I have no updates from blue pilot and no way to get ahold of anyone. If I have to wait, that’s fine, I just would like to know that what I bought is real and I’ll eventually get it lol

you’ll get a pirateship email when it goes out. Usually ships within 48 hours, so check your junk mail for the tracking link.

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