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If you're looking for instructions for the old versions of OpenPilot that run on EON with white or gray panda, that page is available here.

Talk: Feedback? Ideas? Comments?

What is OpenPilot

OpenPilot is open source software built to improve upon the existing driver assistance in most new cars on the road today. Now OpenPilot is available for pre-autopilot Tesla Model S as well as Tesla Model S/X with autopilot hardware 1 or 2.

Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported car makes, models and model years. In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about the vehicle integration and limitations.

Getting Started

  1. OpenPilot for preAP Tesla ModelS
  2. OpenPilot for Tesla Model S/X with AP1
  3. OpenPilot for Tesla Model S/X with AP2

Software Design History

v0.8.13-57 (2022-11-17)

* Fix pedal pressed message on ACC
* Adjust top speed with speed limit for AP1
* Show set speed in lower right corner for RHD cars
* Brake factor speed adjustable (1.1 below 70km/h, 1.4 above 110km/h)

v0.8.13-56 (2022-11-08)

* Sound files volume fix
* Show TACC icon on IC for AP cars when OP is available
* Display shutdown
* Engage at 0 MPH (AP cars)
* Fleet based speed (AP cars)
* Slow down in turns based on SunnyPilot 
* prevent iBooster from pressing both pedals
* Improved acceleration handling for AP1
* Add message ID for the CAN Error 
* Reduce min accel to -4.5 
* Improve follow distance
* Better and smoother pedal with 4 profiles
* Universal calibration tool for pedal interceptor
* iBooster control improvement
* Add 5 pedal profiles and 3 acceleration profiles for better long control wiht pedal
* Add alert when maximum regen is used with pedal to show braking limit 
* Prevent PCC engagement with uncalibrated pedals
* Cancel automatic lane change on blinker or wheel touch
* Toggle to ignore wrong date/time on device
* Increase steering angle limits on Panda
* Fix Controls Mismatch when taking over steering

v0.8.13-55 (2022-09-21)

* Sound toggles (to mute certain sounds)
* Sound files

v0.8.13-54 (2022-09-19)

* Add capabilities for Str params
* Implement fixed fingerprint option to avoid fingerprinting issues

v0.8.13-53 (2022-08-05)

* iBooster ECU fixes
* Try to fix Controls Mismatch issues
* Add toggle for radar error with AP

v0.8.13-52 (2022-08-05)

* Reset Pedal PID on engagement
* Toggle for Model S Performance for pedal (bug fix)
* Pedal profile for MS Performance (bug fix)
* Toggle to prevent auto updates
* Toggle for dev unit (bug fix)
* Autoresume speed from stand still

v0.8.13-51 (2022-07-05)

* new PID for pedal, including way to save state
* toggle for Model S Performance for pedal
* pedal profile for MS Performance

v0.8.13-48 (2022-05-18)

* limit iBooster travel to a max of 15mm (90psi on my car)
* set Hold values for iBooster to 6.5mm (14psi)
* change lane poly calculation logic for IC integrtion

v0.8.13-47 (2022-05-11)

  • do not send iBooster brake command when real accelerator pedal is pressed

v0.8.13-46 (2022-05-10)

  • do not send iBooster brake command when accelerator pedal is pressed
  • increase brake hold value

v0.8.13-45 (2022-05-09)

  • update firmware for Vacuum Sensor board with brake release condition
  • allow 0x553 for iBooster in panda
  • allow 0x555 for IVS in panda

v0.8.13-44 (2022-05-04)

  • update firmware for Vacuum Sensor board
  • fix CRC for iBooster

v0.8.13-43 (2022-04-21)

  • fix Pedal over CC issues when MCU2 or no Tinkla Buddy
  • add firmware for Vacuum Sensor board
  • fix CRC for iBooster

v0.8.13-41 (2022-04-19)

  • fix startup screen for C3
  • fix modem initialization for C3 (comma three: correctly set initial EPS bearer settings for AT&T sim cards)
  • fix logic for enabling OP on preAP MS
  • add C3 Tinkla Splash

v0.8.13-38 (2022-04-05)

  • toggle to allow move of maps on left
  • always show OP data on IC when engaged (AP1/AP2)
  • Comma three support
  • fix top speed indicator when using pedal with Tinkla Buddy

v0.8.13-37 (2022-04-01)

  • added configuration value for HandsOnLevel before human takeover
  • fixed acceleration for AP1 stop-and-go which was limited at 1.2m/s^2
  • added testing toggle for full LongControl from planner vs actuator (AP1 or preAP with iBooster)
  • fixed release scripts
  • fixed automatic flashing of panda code

v0.8.13-34 (2022-03-27)

  • full support for OP long control with AP1
  • follow distance is adjustable from CC stalk (when available)
  • UI shows multiple road lanes when detected by OP
  • fix bug where ACC would show disabled message after brake press even when not enabled
  • variable acceleration based on speed for AP1 OP based long control
  • improve pedal tune (by vandreykiv)
  • fix variables default value not showing correctly in UI

v0.8.13-33 (2022-03-26)

  • new events to show when Standard CC is enabled
  • added shutdown timeout for device (vandreykiv)

v0.8.13-32 (2022-03-20)

  • allows Standard CC (no LKAS) to be used with pedal when cruise enabled
  • allows Standard CC (no LKAS) to be used with ACC by double press down
  • allows for pedal to be used over CC (when setting enabled)

v0.8.13-31 (2022-03-18)

  • based on v0.8.13 (latest release from Comma)
  • requires EON Gold/Black Panda or Comma two/three
  • no need for EPAS harness
  • Panda flash built in UI
  • Pedal flash built in UI
  • EPAS patching built in UI
  • Radar VIN Learner built in UI
  • radar behind nosecone setting as part of VIN Learn (set via UI)
  • works with either human long control, ACC or pedal
  • no more ssh to install or update
  • no more ssh to change any settings, all done through UI
  • automatic change top speed based on speed limit and offset (either units or %)
  • automatic lane change with adjustable delay
  • human steering override with adjustable delay for re-engagement
  • steering never disengages unless you cancel it via stalk
  • adjustable follow distance though UI
  • allows for CC without LKAS when using Pedal
  • pedal can be on either CAN0 or CAN2 (set via UI)
  • support for iBooster ECU (in dev)