Installing Comma.ai / OpenPilot (BlueCruise alternative)

[PeeKay]

Cool. Thanks @AjzRide

For some reason I thought you were running SunnyPilot. Perhaps I'm confused...read too many threads on too many forums.

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[AjzRide]

Cool. Thanks @AjzRide

For some reason I thought you were running SunnyPilot. Perhaps I'm confused...read too many threads on too many forums.

It’s the exact same process if you install SunnyPilot. I dabble with both.

 

[samev]

For those like me with only a superficial understanding of the technical details ...
1) Is it possible (perhaps on a future Comma SW version) to incorporate MachE's inbuilt radar sensor data for Comma-controlled ADAS? Potentially to deliver enhanced ADAS or for redundancy.
2) Can Ford disable CommaAI thru one of their OTA updates, assuming they can figure out who is using Comma from the vehicle data they collect?
3) Could Ford void the new car warranty for Comma users because they are messing with the electronics in a non-authorized manner?

 

[AjzRide]

For those like me with only a superficial understanding of the technical details ...
1) Is it possible (perhaps on a future Comma SW version) to incorporate MachE's inbuilt radar sensor data for Comma-controlled ADAS? Potentially to deliver enhanced ADAS or for redundancy.
2) Can Ford disable CommaAI thru one of their OTA updates, assuming they can figure out who is using Comma from the vehicle data they collect?
3) Could Ford void the new car warranty for Comma users because they are messing with the electronics in a non-authorized manner?

1) Yes. I am running an experimental fork now that is using radar. Still a work in progress, but proves it is possible.
2) In Theory yes. But without a hardware change you could always roll the software version back. In reality, it would take a massive code update and given how much trouble they have getting simple updates out, I can’t see it happening.
3) The only thing they might could refuse to cover would be an IPMA or PSCM. But if you remove your comma before taking it in, they shouldn’t be able to tell it was ever there.

 

[AjzRide]

Big news for Mach E Owners!!

SunnyPilot (which is a very popular port of OpenPilot) has released official support for F150, Lightning, and MachE. You can now install from a public URL and will not need any SSH or GitHub manipulations to get a Ford working on a Comma device.

Installer URL: bit.ly/sp-release-c3

After install, navigate to the menu system and find "vehicle". in the upper right is a button to "select your car". from there choose Mustang Mach E and reboot your device.

 

[Macwestly]

This thread has been very helpful. Just wondering if there are any updates since December? I have a 2023 MME Premium and I already have the Comma 3x for another vehicle. Sounds like it would be well worth it to order the Q4 harness and put this in my Mach E, especially since my BC trial runs out in a few weeks. Is SunnyPilot the best/only way to go?

 

[AjzRide]

Yes, SunnyPilot is the best way to go, it supports MachE out of the box, no need to make a custom fork or ssh in to get out of dash cam mode. There is a team of about six working continuously on Ford, and we have submitted several code updates to Comma and Sunny to improve the experience for everyone. I am hopeful Sunny will get them incorporated in the next few weeks. Comma will be months before they incorporate. There are two big changes we have suggested. The first is to acceleration/braking control that adds in the ability to coast so braking isn't binary. The second resets steering whenever a human made turn is initiated to prevent the wind-up that you experience if you make a turn with lateral controls engaged.

 

[Macwestly]

Yes, SunnyPilot is the best way to go, it supports MachE out of the box, no need to make a custom fork or ssh in to get out of dash cam mode. There is a team of about six working continuously on Ford, and we have submitted several code updates to Comma and Sunny to improve the experience for everyone. I am hopeful Sunny will get them incorporated in the next few weeks. Comma will be months before they incorporate. There are two big changes we have suggested. The first is to acceleration/braking control that adds in the ability to coast so braking isn't binary. The second resets steering whenever a human made turn is initiated to prevent the wind-up that you experience if you make a turn with lateral controls engaged.

Thank you so much! The "getting started" PDF you provided is amazing. I am running SunnyPilot now in my Honda and I always struggle with which settings to enable/disable. Thanks to you, I won't have that problem when I move it to the Mach E. I really appreciate the work you are putting into this.

 

[TheNoname]

I am thinking about purchasing the Comma 3x and harness to try this out on my Mach E. Is there a diagram somewhere that shows where the IPMA is in the trunk? I am wanting to try it out before the 30 day return period ends and I am wondering if there is a way to set it up without pulling off the trim and routing the USB-C cable correctly.

 

[AjzRide]

You can certainly try it without pulling all of the trim, but you will need to pull some in the trunk to access the IPMA. although I have a MachE, I’ve not had the time to install the Comma in it so I’ve not done it myself. Here is a copy/paste of some notes someone else provided:

=========================
So after a day, I got this hooked up, my a pillar trim is still off because it's impossible to get back on, but I'm in the game.

For future mach e drivers I think it's fair to say we have one of the hardest cars to wire up but it's doable. I needed to disassemble the trunk floor to take off the rear sill plate. After that it's pretty easy to pull off the rear side panel to get to the ipma. It took more force than I expected but it's not that easy to break if you go slow so for anyone else just go for it.

Per ev vida video I ziptied the end of the USb and rn45 cable and I fed it back to the ipma from the floor of driver's side back seat. I took off the floor trim to keep things neat ziptying along the way. I passed it up to the left side of the driver seat and just ran the cable under the floor mat from there is a short run to the obd for the rj45. For the USB c I ran this behind the side dashboard trim and into the a frame. I had to take the a frame trim off and I still haven't figured how to get it on but I'm told it's doable. The final run is tucked into the headliner and close to the rearview mirror.

You should only need a trim removal tool a hex driver and maybe a wrench or socket tool. The last two are needed to remove the rear sill plate in the trunk. I used two ainope USB c extension cables as recommended here (16 ft total). I had a couple feet left over which I tucked under the mat, but you can easily choose to bundle the excess next to the ipma. I also used a 10 ft cat 6. You can get away with a reasonably neat install only removing four trim panels. Overall difficulty for a first timer 7/10. Requires a lot of patience. I could do it again in less than half the time but feeling the way around removing trim pieces without breaking them requires going slow the first time around

 

[PeeKay]

I found this video to be quite helpful.
There also was a document with some pictures.

 

[Nolanbro]

If anyone still needs help with this I have comma in my car. I was lazy with cable routing and I have a 3 not 3X so I have power and data running to the device. Getting to the IMPA in the trunk is a pain.

I'm not super into the software but SunnyPilot has the ACC. Run the OP long option not stock. I can try and answer questions but your best bet is probably the discord.

 

[TheNoname]

If anyone still needs help with this I have comma in my car. I was lazy with cable routing and I have a 3 not 3X so I have power and data running to the device. Getting to the IMPA in the trunk is a pain.

I'm not super into the software but SunnyPilot has the ACC. Run the OP long option not stock. I can try and answer questions but your best bet is probably the discord.

Yes please! I would love some help. How do you have the cables routed? How did you access the IPMA? What did you use to know how to access the IPMA? Service manual? Do you find SunnyPilot is better than BlueCruise? Did you run into any road blocks during installation?

I am sure more questions will come to me throughout the day ?

 

[Nolanbro]

Hi!

So I never had BlueCruise in my car but compared with stock lane centering it is so much better!

With low speed manuvres it is weird as it tends to "hold" a turn after its complete due to ford using a curvature measure instead of torque. Above 30mph you won't notice. It can mostly stop at red lights too which is nice as I'm in a metro area, but you have to really watch the system to make sure its stopping appropriately.

In order to access the IMPA you need to remove the cover next to the striker latch in the trunk. Remove the tiedown points with a torx bit (not sure what size) and there are two other bolts under the false floor on the side of the plastic trim (also not sure of size). Then just pull up in a quick motion and it will pop off. You will see on the sides of the trim there is a plastic locating bracket that attaches to the frame. POP THIS OFF FIRST, then use a panel clip to get access to the IMPA. Once you are in there you will see two harnesses that "fit" the comma harness. It is the upper one if I remember correctly. Cable routing I basically didn't care about as I just ran it under my floormats. I used double-sided tape to hold it along the A-pillar trim. I'm not going to lie it looks pretty bad but I have no desire to try and get it to look pretty.

If you really care about fit and finish I'm not the one to ask, but the trim panels in the car do pop apart pretty easily and other than the panel on the side of the dash, they shouldn't use screws.

There a YouTube vehicle showing how to get to it, and then some engineering student wisdom of figuring out how it's all held together.

I can take some pictures later of the wiring.

You also have to be very picky with the extension cables you use. Someone else in this thread mentions the ones you should buy.

 

[AjzRide]

With low speed manuvres it is weird as it tends to "hold" a turn after its complete due to ford using a curvature measure instead of torque.

I wrote a fix for this and Sunny is safety testing it now. Should go public in the next few weeks.

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