Installing Comma.ai / OpenPilot (BlueCruise alternative)

[AjzRide]

I unplugged the Comma and started the car and Android Auto worked wireless. Shut everything down, plugged in the Comma and started it up and no AA... So I cleared the phone info from Sync, and deleted the Mach E from the phone, plus cleared all Android Auto data and cache. After re-pairing the phone and initializing AA, it is now working. Just one of those glitchy things I guess.

I installed BluePilot - love it! Starting to play with some of the settings, but I don't know what 90% of them do, so that'll take some time.

One question - it is running the default model right now. Is there a preferred model for the Mach E?

WD40 and Notre Dame under legacy models tend to be the least twitchy for lateral control. Many people claim Notre Dame is less right stripe-oriented, and they like that.

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[Traveller]

WD40 and Notre Dame under legacy models tend to be the least twitchy for lateral control. Many people claim Notre Dame is less right stripe-oriented, and they like that.

Awesome. Heading out to try Notre Dame now.

@AjzRide - do you have a link somewhere I can send you coffee money (we're talking fancy Starbucks level here)? I love people like you who give of your time and talent so freely to help a community and would love to support.

 

[Traveller]

Notre Dame is awesome! So smooth, much less ping pong. Perfect lane centering. I also changed the lane change to not need the nudge. Love it.

Obviously more testing to do, but super happy so far.

 

[AjzRide]

https://bluepilot.dev/2026/02/28/bluepilot-6-0-is-now-in-open-beta/

 

[AjzRide]

The 6.0 beta has been synced up with sunnypilot master as of 03.04.2026. Since this included some major updates to submodules, we have decided not to push it into bp-6.0-beta, because it could cause a failed upgrade. To move over the new beta, please uninstall and use the following URL:

installer.comma.ai/BluePilotDev/bp-6.0.1-beta

or

bit.ly/bp601beta

 

[ReverendPete]

I'm doing my Comma4 install this evening. I have read this entire thread and watched a bunch of videos about the install.

Is there a consensus on the best path for the USB cable? It's looks like EV-VIDA went along the floor and up the A pillar, but in AjzRide's pictures, it looks like the wiring went up the B pillar to the headliner. (Aren't there side curtain airbags up there? But I also wasn't sure why you took the trim off the A Pillar too...)

Another note, the cable linked a few pages back (https://www.amazon.com/JasRoum-Standard-Transfer-Charging-Controller/dp/B0FCLSHY36/ref=sr_1_3) does NOT fit into the Comma4's port. The ferrule is squared off and the entry to the port on the Comma is rounded off. I have a 6" extender that I will use, which fits in the Comma. (I tested it, and it works).

 

[AjzRide]

I'm doing my Comma4 install this evening. I have read this entire thread and watched a bunch of videos about the install.

Is there a consensus on the best path for the USB cable? It's looks like EV-VIDA went along the floor and up the A pillar, but in AjzRide's pictures, it looks like the wiring went up the B pillar to the headliner. (Aren't there side curtain airbags up there? But I also wasn't sure why you took the trim off the A Pillar too...)

Another note, the cable linked a few pages back (https://www.amazon.com/JasRoum-Standard-Transfer-Charging-Controller/dp/B0FCLSHY36/ref=sr_1_3) does NOT fit into the Comma4's port. The ferrule is squared off and the entry to the port on the Comma is rounded off. I have a 6" extender that I will use, which fits in the Comma. (I tested it, and it works).

If you are using the comma supplied cable, you have no option to go up along the headliner, if you go along the floor it will be too short. If you are using the 15' cable, you can go either way. Did you watch my video I made after I had made the posts? I talked a bit about the a piller and how to get away without removing it.

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

If I can find my post I'll edit hte link away.

 

[ReverendPete]

Did you watch my video I made after I had made the posts? I talked a bit about the a piller and how to get away without removing it.

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

Thanks for that!

 

[benk016]

My C4 is scheduled for delivery on Monday. But my car is in the shop. So it'll be installed as soon as I have my car back.

 

[Traveller]

@ReverendPete - I just installed the Comma 4 a few weeks ago tucked into the headliner according to AjzRide excellent instructions and video. I used the Comma provided cable and it was the perfect length.

The only tricky part was fishing a piece of wire coat hanger above the headliner around the top of the A-pillar as I didn't want to remove that pillars cover. I started by bending the hanger wire into a gentle curve and fed it above the headliner starting on the front/windshield side of the a pillar and coaxed it to the rear side by the door opening. Once I got the wire there I could pull the trim seal back enough to see the end of the wire and grab it with needle nose pliers. Tape the forward end of your USB -C cable to the hanger wire and pull it through. That was the only tricky part, but it still only took about 15 mins to do that step.

Let us know how it goes tonight!

 

[ReverendPete]

@ReverendPete - I just installed the Comma 4 a few weeks ago tucked into the headliner according to AjzRide excellent instructions and video. I used the Comma provided cable and it was the perfect length.

The only tricky part was fishing a piece of wire coat hanger above the headliner around the top of the A-pillar as I didn't want to remove that pillars cover. I started by bending the hanger wire into a gentle curve and fed it above the headliner starting on the front/windshield side of the a pillar and coaxed it to the rear side by the door opening. Once I got the wire there I could pull the trim seal back enough to see the end of the wire and grab it with needle nose pliers. Tape the forward end of your USB -C cable to the hanger wire and pull it through. That was the only tricky part, but it still only took about 15 mins to do that step.

Let us know how it goes tonight!

Thanks, Traveller!

 

[teach42]

Agreed. Use the supplied cable and go along the headliner. Super easy. Just to add to @Traveler's suggestions, when you're inserting the coat hanger in to get around the pillar, the further away from the pillar you start, the easier it is. Entering in from just almost in the center of the mirror is WAY easier than trying to start close to the pillar. Get it in further away, and then just slide it over and work on fishing it through. i was all set for that to be crazy difficult, and it took like 5-10 minutes. And the rest is all really easy. All in, took me about 45 minutes to get the cable run, and I was taking my time.

 

[ReverendPete]

I got the Comma 4 installed this afternoon. I had a buddy help me, and it only took us about 40 minutes to do the install. I got it running BluePilot 6.01 beta, with the Notre Dame model, and played around with it on some different roads, including a very curvy back road, and some highways.

I agree that it's better than BC, and a great investment for me! I still have a lot to learn about changing settings, etc.

Thanks to everyone here for the support, especially AjzRide!

 

[ReverendPete]

I found a few surprising things about the Comma 4 in my first weekend of use.

First off, I drove home during a snow storm last night, where there were long stretches of road where I couldn't see the lines. I turned on BluePilot just to see how it would do not seeing the lines, and I was pretty blown away at how well it did. For a lot of it, it was following the tire tracks of other cars, but there were a few sections where I was driving on pristine snow, and it still did a remarkable job of deciding where to drive. I had my hands on the wheel the whole time, but it just never did anything stupid, and I was impressed!

The biggest surprise for me, though is that if you engage cruise control, and then tap the brakes, which disengages the cruise control, it only actually disables the longitudinal control, and the steering is still in place. You can resume the longitudinal control the same way you would normally resume the ACC. That works out pretty well for driving in unpredictable traffic, where you can anticipate things coming quicker than the Comma, and so it's comfortable to be controlling the speed, but letting the Comma help with the steering. It even just takes the "nose cone" of the blue bubble on the IPC away, and leaves the bubble surrounding the car. That's a helpful feature that I hadn't even thought of before, and I really like it! I actually used it in the snow last night, because I like driving in L mode in the snow, and the conditions were requiring some more careful longitudinal control.

All in all, it's much more stable than Ford's ACC. There are places on roads that the ACC abruptly cancels every time I drive them, and the Comma stays engaged through all of them without any trouble. The only times I have had it chime at me is for tight curves, and special circumstances, like roundabouts, etc.

I will be digging into the settings a bit more this week. It's still sitting a little to the right of the line that I would normally drive, and when it was following tire tracks last night, it had my wheels sitting maybe a foot to the right of the tracks... But I can't believe how well it does all around!

 

[AjzRide]

The biggest surprise for me, though is that if you engage cruise control, and then tap the brakes, which disengages the cruise control, it only actually disables the longitudinal control, and the steering is still in place.

This is MADS, under the steering menu in sunnylink. It can be turned off for anyone who doesn't like it.

All in all, it's much more stable than Ford's ACC. There are places on roads that the ACC abruptly cancels every time I drive them

Technically you are probably using Ford's ACC. And Ford ACC never cancels. ACC is for gas and brake control. For clarity I believe you are referring to Comma being more stable and reliable than Fordl's Lane Assist.

It's still sitting a little to the right of the line that I would normally drive, and when it was following tire tracks last night, it had my wheels sitting maybe a foot to the right of the tracks...
[/QUOTE]

In Sunnylink
Models --> Legacy Models --> Notre Dame

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.

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