From Tinkla: Tinkering with Tesla
- AP2 controls steering using the Chassis CAN and acceleration/braking through the Powertrain CAN, thus it requires two harness for complete control from OpenPilot.
- Only a Comma three can control multiple pandas using the additional USB-C port. Hence a Comma two can only handle lateral control.
Using OpenPilot with just lateral control
- When using the OpenPilot on a Tesla with AP2/2.5/3, you have the option to configure the software (via the UI toggles) to only do lateral control, and let the built in adaptive cruise control handle the longitudinal control.
- To do this, you will need a Comma two or Comma three plus a Lateral Control Harness by following the instructions in the Comma repository.
Using OpenPilot with full control
To allow OpenPilot to fully (lateral and longitdinal) control your Telsa equipped with AP2/2.5/3, you need the following: