# [Bounties](https://github.com/orgs/commaai/projects/26/views/1)

Get paid to improve openpilot!

## Rules

* code must be merged into openpilot master
* bounty eligibility is solely at our discretion
* once you open a PR, the bounty is locked to you until you stop working on it
* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim
* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders)
* for bounties >$100, the first PR gets a lock, which times out after a week of no progress

We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. 
This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation.

## Issue bounties

We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this:
* **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot
* **$300** - a day of work for an experienced openpilot developer
* **$500** - a few days of work for an experienced openpilot developer
* **$1k+** - a week or two of work (could be less for the right person)

New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord.

## Car bounties

The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering).

#### Brand or platform port - $2000
Example PR: [commaai/openpilot#23331](https://github.com/commaai/openpilot/pull/23331)

This is for adding support for an entirely new brand or a substantially new ADAS platform within a brand (e.g. the Volkswagen PQ platform).

#### Model port - $250
Example PR: [commaai/openpilot#30245](https://github.com/commaai/openpilot/pull/30245)

This is for porting a new car model that runs on a platform openpilot already supports.
In the average case, this is a few hours of work for an experienced software developer.

This bounty also covers getting openpilot supported on a previously unsupported trim of an already supported car, e.g. the Chevy Bolt without ACC.

#### Reverse Engineering a new Actuation Message - $300

This is for cars that are already supported, and it has three components:
* reverse a new steering, adaptive cruise, or AEB message
* merge the DBC definitions to [opendbc](http://github.com/commaai/opendbc)
* merge the openpilot code to use it and post a demo route

The control doesn't have to be perfect, but it should generally do what it's supposed to do.

### Specific Cars

#### Rivian R1T or R1S - $3000

Get a Rivian driving with openpilot.
Requires a merged port with lateral control and at least a POC of longitudinal control.

#### Toyota SecOc - $5000

We're contributing $5k to the [community-organized bounty](https://github.com/commaai/openpilot/discussions/19932).

#### Chevy Bolt with SuperCruise - $2500

The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port.
