Installing Comma.ai / OpenPilot (BlueCruise alternative)

[ReverendPete]

On Device:
Menu --> Bluepilot --> Enable Advanced Lane Positioning --> True
Menu --> Bluepilot --> in-lane offset --> -0.05
Menu --> Bluepilot --> LC PID Gain --> 1.0

Should move you a foot to the left.

Thanks! Yep, I'm already on Notre Dame. I will play with those settings!

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[Traveller]

I'm still enjoying BP very much. A few questions:

1) Anyone know what the blue vertical bar behind the confidence ball is? It started showing up when I installed the new beta version of BP. It appears and disappears but I don't understand what it indicates. Can it be turned off?

2) Does the model you are using in any way affect the confidence ball? It seems to be less confident on well marked roads lately, and I have recently switched to WD40 to test that model out.

3) has anyone had luck using BP longitudinal control? I wanted to see how the stop sign recognition worked and have had no luck. Playing with the "Alpha Longitudinal", "Experimental Mode" and "Dynamic Experimental Control" settings results in very erratic speed control with lots of sudden slow downs. Totally unusable.

Thanks everyone!

 

[AjzRide]

I'm still enjoying BP very much. A few questions:

1) Anyone know what the blue vertical bar behind the confidence ball is? It started showing up when I installed the new beta version of BP. It appears and disappears but I don't understand what it indicates. Can it be turned off?

This is the indication that MADS (lateral control without longitudinal control) is active. It's techincally required to meet Comma's safety requirements (letting you know what mode you are in).

2) Does the model you are using in any way affect the confidence ball? It seems to be less confident on well marked roads lately, and I have recently switched to WD40 to test that model out.

I would say any model older than the C4 (so Dec 2025) is probably approximating the confidence ball in some way, since it didn't exist when they were trained. I would say it's more of a low med high approximation than any percise confidence.

3) has anyone had luck using BP longitudinal control? I wanted to see how the stop sign recognition worked and have had no luck. Playing with the "Alpha Longitudinal", "Experimental Mode" and "Dynamic Experimental Control" settings results in very erratic speed control with lots of sudden slow downs. Totally unusable.

Thanks everyone!

Alpha = Basic ACC by OP instead of ford
Experimental = Alpha + stop sighns, redlights, and comma trying to determine how fast to drive. This usually results in driving like a grandma, slowing down unnecessarily anytime it thinks there might be an intersection or traffic.
DEC = attempt to fix grandma mode when using experimental.

Alpha long is very binary, not smooth like ford ACC. I never use Experimental without DEC. I usually only use alpha if I need to test stuff before release, I'm not a fan of OP Long.

 

[kiowa1021]

Is your C4 sliding dock compatible with an existing FitCamX installation on a Mach-e? I saw from your ordering page that there is a FitCamX adjustment option for Lightning models. Wasn’t sure if it was necessary for the Mach-e.

 

[AjzRide]

Is your C4 sliding dock compatible with an existing FitCamX installation on a Mach-e? I saw from your ordering page that there is a FitCamX adjustment option for Lightning models. Wasn’t sure if it was necessary for the Mach-e.

It is still necessary, does the MachE use the same camera as the F150? I didn't even know they had a FCX for MachE.

 

[kiowa1021]

It is still necessary, does the MachE use the same camera as the F150? I didn't even know they had a FCX for MachE.

It looks like the FCX implementation differs between the models. The Mach-E version comes with an entire replacement cowl for the mirror (picture below):

Whereas the F150 version looks like a standalone unit:

I guess the adjustment wouldn't be needed? I'm thinking I would just have the C4 dock sit lower/centered so that the C4 can function without obstructing the FCX field of view too much. Just trying to cover my bases before I place orders for my C4 and your dock.

 

[AjzRide]

It looks like the FCX implementation differs between the models. The Mach-E version comes with an entire replacement cowl for the mirror (picture below):



Whereas the F150 version looks like a standalone unit:


I guess the adjustment wouldn't be needed? I'm thinking I would just have the C4 dock sit lower/centered so that the C4 can function without obstructing the FCX field of view too much. Just trying to cover my bases before I place orders for my C4 and your dock.

if you dont Mind the C4 being lowered it will work.

 

[ReverendPete]

It was definitely the comma causing the issue, as soon as I unplugged it the mirror started dimming again. I also drive in very pitch black areas where there is 0 lighting on the roads so I don't know if that plays into it at all.

I will have to try to rig something up with my printer, thanks.

Have you found any relief for the auto-dimming mirror issue? I have the C4 mounted so that the screen is positioned right below my mirror to minimize the visibility impact, but I also have the auto-dimming issue now. I haven't played with it a lot, but noticed that covering the C4 completely with my hand doesn't seem to affect it.

 

[ScoobyDoo27]

Have you found any relief for the auto-dimming mirror issue? I have the C4 mounted so that the screen is positioned right below my mirror to minimize the visibility impact, but I also have the auto-dimming issue now. I haven't played with it a lot, but noticed that covering the C4 completely with my hand doesn't seem to affect it.

I stuck a piece of electrical tape over part of the light sensor on the back of the mirror, the half that faces the comma. I have not had any issues with it not auto dimming ever since.

 

[ReverendPete]

I stuck a piece of electrical tape over part of the light sensor on the back of the mirror, the half that faces the comma. I have not had any issues with it not auto dimming ever since.

Sweet! I will give that a shot, thanks!

 

[AjzRide]

Guess I forgot to post this yesterday:

BluePilot 6.0 has Exited Beta Testing and is Now Available for General Use

https://bluepilot.dev/2026/03/26/the-beginners-guide-to-bluepilot-on-ford-vehicles/

 

[ScoobyDoo27]

Guess I forgot to post this yesterday:

BluePilot 6.0 has Exited Beta Testing and is Now Available for General Use

The Beginner’s Guide to BluePilot on Ford Vehicles

What model do you suggest using for the MME? The default model is cutting curves and seems to ping pong a bit.

 

[AjzRide]

What model do you suggest using for the MME? The default model is cutting curves and seems to ping pong a bit.

https://bluepilot.dev/2026/03/19/bluepilot-most-frequently-reccomended-settings/

 

[AjzRide]

First, I want to thank everyone who has made this community an awesome experience to be a part of. There has been an amazing amount of collaboration and positive feedback for the entire BluePilot team. As we reach the two-year anniversary of the launch for BluePilot, I am taking a moment to let the community know that I am shifting my priorities now that BluePilot 6.0 has been released. I never had a desire to lead my own fork; the whole project started because I was passionate about improving how openpilot behaved on Ford vehicles. After I developed several key improvements, but my PRs were rejected or ignored by Comma and the popular forks, and since I felt guilty about how much better my experience was than everyone else driving a Ford, I started BluePilot. While I have learned a lot from leading this project, it is not the type of activity that I enjoy. The grind of keeping up with the changes forced on forks from Comma has left me with no time to pursue the aspects of the project I do enjoy. I have been unable to make any progress on better lateral control, firmware unlocks (I bought a spare PSCM over a year ago and have not had an opportunity to work with it), and new vehicle ports (Big Bronco anyone?). Now that bluepilot is in a very stable state, I will shift my focus back to the efforts I believe will have a greater long-term impact on the community. My reduced online presence will require other members of the community who have benefited from the last two years of work to give back by helping new users get started in the ecosystem. @tonesto7 will be continuing to support the project, ensuring the platform can remain current by incorporating upstream changes and supporting compatibility going forward. I am also seeking individuals who would be willing to take on a role of interfacing with the community for bluepilot, soliciting feedback on new and future features, testing, and developing the future branches. If you are interested in taking up this mantle, please reach out to me via a direct message.

 

[chariotquant]

Thank you for your service!!

Also, where do I subscribe to your PSCM adventures?

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