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10 Commits
| Author | SHA1 | Date | |
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 Prabhaav Pillai
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firestar5683
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firestar5683
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firestar5683
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firestar5683
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firestar5683
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firestarsdog
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firestar5683
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firestar5683
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firestarsdog
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+11
-3
@@ -1,3 +1,5 @@
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import subprocess
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Import('env', 'common', 'msgq')
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cereal_dir = Dir('.')
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@@ -5,9 +7,15 @@ gen_dir = Dir('gen')
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# Build cereal
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schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
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env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
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schema_files,
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f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
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schema_outputs = env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
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schema_files,
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f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
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# capnpc embeds an exact compiler-version guard in every generated C++ header.
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# Include the tool version in the dependency signature so SCons cannot reuse
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# generated headers from a cache populated by another AGNOS/toolchain version.
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capnp_compiler_version = subprocess.check_output(['capnpc', '--version'], encoding='utf-8').strip()
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env.Depends(schema_outputs, env.Value(capnp_compiler_version))
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cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
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+5
-5
@@ -507,7 +507,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
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pmicTempC @39 :List(Float32);
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intakeTempC @46 :Float32;
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exhaustTempC @47 :Float32;
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caseTempC @48 :Float32;
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gnssTempC @48 :Float32;
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bottomSocTempC @50 :Float32;
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maxTempC @44 :Float32; # max of other temps, used to control fan
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thermalZones @38 :List(ThermalZone);
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@@ -522,10 +522,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
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}
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enum ThermalStatus {
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green @0;
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yellow @1;
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red @2;
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danger @3;
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ok @0;
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warmDEPRECATED @1;
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overheated @2;
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critical @3;
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}
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enum NetworkType {
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+186
-44
@@ -4,27 +4,79 @@
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A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 326 Supported Cars
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# 451 Supported Cars
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|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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|Acura|ADX 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ADX 2025-26">Buy Here</a></sub></details>|||
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|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
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|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
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|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
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|Acura|Integra 2023-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura Integra 2023-26">Buy Here</a></sub></details>|||
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|Acura|MDX 2014-16|Advance Package|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2014-16">Buy Here</a></sub></details>|||
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|Acura|MDX 2017-19|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2017-19">Buy Here</a></sub></details>|||
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|Acura|MDX 2020|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2020">Buy Here</a></sub></details>|||
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|Acura|MDX 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
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|Acura|MDX 2025|All except Type S|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
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|Acura|MDX Hybrid 2017-19|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2017-19">Buy Here</a></sub></details>|||
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|Acura|MDX Hybrid 2020|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2020">Buy Here</a></sub></details>|||
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|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
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|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
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|Acura|RDX 2022-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2022-26">Buy Here</a></sub></details>|||
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|Acura|TLX 2015-17|Advance Package|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2015-17">Buy Here</a></sub></details>|||
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|Acura|TLX 2018-20|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2018-20">Buy Here</a></sub></details>|||
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|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
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|Acura|TLX 2024-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2024-25">Buy Here</a></sub></details>|||
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|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
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|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
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|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
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|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
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|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q4 e-tron 2021-23">Buy Here</a></sub></details>|||
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|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q4 e-tron 2024-25">Buy Here</a></sub></details>|||
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|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
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|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
|
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|Buick|Baby Enclave 2020-23|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick Baby Enclave 2020-23">Buy Here</a></sub></details>|||
|
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|Buick[<sup>3</sup>](#footnotes)|LaCrosse 2017-19|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse 2017-19">Buy Here</a></sub></details>|||
|
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|Buick|LaCrosse ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse ASCM Harness 2017-19">Buy Here</a></sub></details>|||
|
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|Buick|LaCrosse US ASCM Harness 2019|Adaptive Cruise Control (ACC)|Stock|3 mph|27 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse US ASCM Harness 2019">Buy Here</a></sub></details>|||
|
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|Buick[<sup>3</sup>](#footnotes)|Regal Essence 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick Regal Essence 2018">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|ATS Premium Performance 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac ATS Premium Performance 2018">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|CT6 No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac CT6 No-ACC 2016-20">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade 2017|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade 2017">Buy Here</a></sub></details>|||
|
||||
|Cadillac|Escalade ASCM Harness 2018|Driver Assist Package|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ASCM Harness 2018">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2016|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2016">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2019|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2019">Buy Here</a></sub></details>|||
|
||||
|Cadillac|Escalade ESV Platinum ASCM Harness 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV Platinum ASCM Harness 2019">Buy Here</a></sub></details>|||
|
||||
|Cadillac|XT4 2023|Driver Assist Package|Stock|0 mph|30 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT4 2023">Buy Here</a></sub></details>|||
|
||||
|Cadillac[<sup>3</sup>](#footnotes)|XT4 No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|30 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT4 No-ACC 2023">Buy Here</a></sub></details>|||
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|Cadillac|XT5 2022|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT5 2022">Buy Here</a></sub></details>|||
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|Cadillac[<sup>3</sup>](#footnotes)|XT5 No-ACC 2022|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT5 No-ACC 2022">Buy Here</a></sub></details>|||
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|Cadillac|XT6 2020|Driver Assist Package|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT6 2020">Buy Here</a></sub></details>|||
|
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|Chevrolet|Blazer 2019-25|Driver Assist Package|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Blazer 2019-25">Buy Here</a></sub></details>|||
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||||
|Chevrolet|Bolt EV & EUV ACC 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
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|Chevrolet|Bolt EV & EUV ACC w Pedal 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC w Pedal 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV & EUV No-ACC 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV No-ACC 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Bolt EV No-ACC 2018-21|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2018-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Equinox No-ACC 2019-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox No-ACC 2019-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu 2019|SDGM Harness (Optional SASCM)|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu 2019">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu ASCM Harness 2017-19">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Malibu Hybrid No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Hybrid No-ACC 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Malibu No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu No-ACC 2023">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Malibu Premier 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Premier 2017">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Silverado 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier 2016-20|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier 2016-20">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier No-ACC 2016-20">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Trailblazer No-ACC 2021-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer No-ACC 2021-22">Buy Here</a></sub></details>|||
|
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|Chevrolet|Traverse 2022-23|RS, Premier, or High Country Trim|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Traverse 2022-23">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|TRAX 2024-25|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet TRAX 2024-25">Buy Here</a></sub></details>|||
|
||||
|Chevrolet[<sup>3</sup>](#footnotes)|Volt 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
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|Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2019">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt ASCM Harness 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|openpilot available[<sup>1</sup>](#footnotes)|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt Camera Harness 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
|
||||
|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
|
||||
@@ -32,32 +84,37 @@ A supported vehicle is one that just works when you install a comma device. All
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|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
|
||||
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Edge 2022|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Edge 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|F-150 Lightning 2022-25|Co-Pilot360 Assist 2.0|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Lightning 2022-25">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Hybrid 2024|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Mondeo 2014-22|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mondeo 2014-22">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Mustang Mach-E 2021-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ford|Transit 2025|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Transit 2025">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2018|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
|
||||
|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
|
||||
@@ -69,14 +126,25 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV60 (Performance Trim) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified 2026">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Genesis|GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
|
||||
|Genesis|GV80 Coupe (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 Coupe (with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Acadia 2018|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Acadia ASCM Harness 2018|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Acadia ASCM Harness 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Sierra 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
|
||||
|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon 2019-20">Buy Here</a></sub></details>|||
|
||||
|GMC[<sup>3</sup>](#footnotes)|Yukon No-ACC 2019-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon No-ACC 2019-20">Buy Here</a></sub></details>|||
|
||||
|Holden[<sup>3</sup>](#footnotes)|Astra 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Holden Astra 2017">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2016-17|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2016-17">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2017|All|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2017">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Accord Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
@@ -87,13 +155,16 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
|
||||
|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Clarity 2018-21|All|openpilot|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Clarity 2018-21">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V 2023-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|CR-V Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit (Taiwan) 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit (Taiwan) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Fit (Taiwan) 2024-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit (Taiwan) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
|
||||
|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
|
||||
@@ -102,10 +173,13 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
|
||||
|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2026|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Passport 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Pilot 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
|
||||
|Honda|Prelude 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Prelude 2026">Buy Here</a></sub></details>|||
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
@@ -115,14 +189,20 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Elantra 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2024-25">Buy Here</a></sub></details>|||
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|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
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|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Hyundai|Elantra Hybrid 2024-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2024-26">Buy Here</a></sub></details>|||
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|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|i30 Hybrid 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 N (with HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai S connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 N (with HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 5 PE (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq 9 (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
|
||||
@@ -130,39 +210,62 @@ A supported vehicle is one that just works when you install a comma device. All
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|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Kona Electric (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (without HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Hybrid (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid (without HDA II) 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Palisade (with HDA II) 2023-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (with HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Palisade (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Cruz (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Hybrid (with HDA II & LFA2) 2024-25|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Hybrid (without HDA II, LFA2) 2025-26|Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (without HDA II, LFA2) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Hyundai|Sonata (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Sonata Hybrid (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid (without HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Tucson Plug-in Hybrid (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Carnival Hybrid (with HDA II) 2025-26|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid (with HDA II) 2025-26">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (with HDA I) 2025|Highway Driving Assist I|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA I) 2025">Buy Here</a></sub></details>|||
|
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|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
|
||||
|Kia|EV9 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV9 2025-26">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|K4 (with HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (with HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K4 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 (without HDA II) 2025">Buy Here</a></sub></details>|||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
@@ -186,13 +289,20 @@ A supported vehicle is one that just works when you install a comma device. All
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|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento (without HDA II) 2024-25">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Hybrid 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage (without HDA II) 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage (without HDA II) 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
|
||||
|Kia|Sportage Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2026">Buy Here</a></sub></details>|||
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (with HDA II) 2023-24">Buy Here</a></sub></details>|||
|
||||
|Kia|Telluride (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|
||||
|Kia|XCeed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia XCeed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
|
||||
|Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
|
||||
@@ -222,28 +332,34 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-25|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-25">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Leaf Instrument Cluster 2018-25|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf Instrument Cluster 2018-25">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
|
||||
|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1S 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1S 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
|
||||
|Rivian|R1T 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Rivian|R1T 2025|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Ascent 2023-25|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2023-25">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Crosstrek 2025|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Forester 2022-24|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru C connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2022-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Legacy 2025|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|Outback 2023-24|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2023-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
|
||||
|Škoda|Enyaq 2021-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Enyaq 2021-23">Buy Here</a></sub></details>|||
|
||||
|Škoda|Enyaq 2024-25[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Enyaq 2024-25">Buy Here</a></sub></details>|||
|
||||
|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
|
||||
|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
|
||||
@@ -322,6 +438,11 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|
||||
|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.3 2020-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.3 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.5 2022-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
|
||||
@@ -339,6 +460,30 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
|
||||
|
||||
## StarPilot Community Cars
|
||||
|
||||
These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
|
||||
|
||||
# 15 Community Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|Setup Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
|Genesis|G70 Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Bayon Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Bayon Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
|
||||
|Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2021">Buy Here</a></sub></details>|||
|
||||
|Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos Non-SCC 2023-24">Buy Here</a></sub></details>|||
|
||||
|Tesla|Model S (Pre-AP) 2012-14|All|Stock|0 mph|0 mph|[](##)|[](##)|None|||
|
||||
|Toyota|Matrix Retrofit 2005|Custom retrofit|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Matrix Retrofit 2005">Buy Here</a></sub></details>|||
|
||||
|Toyota|RAV4 Prime 2021-23|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Prime 2021-23">Buy Here</a></sub></details>|||
|
||||
|Toyota|Sienna 2021-25|All|openpilot|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2021-25">Buy Here</a></sub></details>|||
|
||||
|Toyota|Yaris (Non-US only) 2020, 2023|All|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Yaris (Non-US only) 2020, 2023">Buy Here</a></sub></details>|||
|
||||
|
||||
### Footnotes
|
||||
<sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
|
||||
<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
|
||||
@@ -356,9 +501,6 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
|
||||
<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
# Don't see your car here?
|
||||
|
||||
**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
|
||||
@@ -400,4 +542,4 @@ openpilot does not yet support these Toyota models due to a new message authenti
|
||||
* Toyota Camry 2025+
|
||||
* Lexus NX 2022+
|
||||
* Toyota bZ4x 2023+
|
||||
* Subaru Solterra 2023+
|
||||
* Subaru Solterra 2023+
|
||||
+10
-10
@@ -38,8 +38,8 @@
|
||||
|Audi|A5 2016-24|All|[Not compatible](#flexray)|
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q5 2017-24|All|[Not compatible](#flexray)|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -93,7 +93,7 @@
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|comma|body|All|[Upstream](#upstream)|
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Edge 2022|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
@@ -401,8 +401,8 @@
|
||||
|Subaru|Solterra 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Škoda|Enyaq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Škoda|Enyaq 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Škoda|Enyaq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Enyaq 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Kamiq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Karoq 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
@@ -498,11 +498,11 @@
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|
||||
@@ -28,6 +28,11 @@ IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
|
||||
CANFD_CAMERA_LEAD_MIN_DISTANCE = 0.1
|
||||
ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS = int(1.3e9)
|
||||
|
||||
CLASSIC_MEDIA_BUTTON_CARS = frozenset({
|
||||
CAR.HYUNDAI_ELANTRA_2024,
|
||||
CAR.HYUNDAI_ELANTRA_HEV_2024,
|
||||
})
|
||||
|
||||
|
||||
def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
|
||||
if CP.flags & HyundaiFlags.EV:
|
||||
@@ -437,6 +442,9 @@ class CarState(CarStateBase):
|
||||
ret.lowSpeedAlert = self.low_speed_alert
|
||||
|
||||
fp_ret = custom.StarPilotCarState.new_message()
|
||||
if self.CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
|
||||
fp_ret.modePressed = bool(cp.vl["GW_SWRC_PE"]["C_ModeSW"])
|
||||
fp_ret.customPressed = bool(cp.vl["GW_SWRC_PE"]["C_MTSSW"])
|
||||
|
||||
return ret, fp_ret
|
||||
|
||||
@@ -686,6 +694,9 @@ class CarState(CarStateBase):
|
||||
("BCM_PO_11", 0),
|
||||
("CLU13", 0),
|
||||
]
|
||||
if CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
|
||||
# Steering-wheel media switches are event-driven on the refresh Elantra.
|
||||
msgs.append(("GW_SWRC_PE", 0))
|
||||
if CP.flags & HyundaiFlags.NON_SCC and not (CP.flags & HyundaiFlags.NON_SCC_NO_FCA):
|
||||
msgs.append(("FCA11", 0)) # Non-SCC trims can stop publishing FCA11; don't let it poison canValid
|
||||
|
||||
|
||||
@@ -654,6 +654,22 @@ class TestHyundaiFingerprint:
|
||||
assert DBC[CP.carFingerprint][Bus.pt] == "hyundai_can_refresh_generated"
|
||||
assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
|
||||
|
||||
def test_elantra_refresh_decodes_classic_media_buttons(self):
|
||||
toggles = get_test_toggles()
|
||||
CP = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], True, False, False, toggles)
|
||||
FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], CP, toggles)
|
||||
|
||||
car_state = CarState(CP, FPCP)
|
||||
can_parsers = car_state.get_can_parsers(CP)
|
||||
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
|
||||
media_msg = packer.make_can_msg("GW_SWRC_PE", 0, {"C_ModeSW": 1, "C_MTSSW": 1})
|
||||
|
||||
can_parsers[Bus.pt].update([(1_000_000_000, [media_msg])])
|
||||
_, fp_ret = car_state.update(can_parsers, toggles)
|
||||
|
||||
assert fp_ret.modePressed
|
||||
assert fp_ret.customPressed
|
||||
|
||||
def test_hyundai_lkas_button_sets_starpilot_safety_flag(self):
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
fingerprint[0][0x391] = 8
|
||||
|
||||
@@ -17,15 +17,12 @@ LEAF_ADAS_COMMAND_ADDRS = frozenset((0x1C3, 0x2B0))
|
||||
LEAF_2025_SV_PLUS_CAMERA_FW = b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80'
|
||||
|
||||
# This Leaf camera uses KWP2000 rather than UDS for session management.
|
||||
LEAF_KWP_AFTER_SALES_REQUEST = b"\x10\xC0"
|
||||
LEAF_KWP_AFTER_SALES_RESPONSE = b"\x50\xC0"
|
||||
LEAF_KWP_DATA_MONITOR_REQUEST = b"\x10\xF0"
|
||||
LEAF_KWP_DATA_MONITOR_RESPONSE = b"\x50\xF0"
|
||||
LEAF_KWP_DISABLE_NORMAL_TX = b"\x28\x01"
|
||||
LEAF_KWP_ENABLE_NORMAL_TX = b"\x29\x01"
|
||||
LEAF_KWP_ENABLE_NORMAL_TX_RESPONSE = b"\x69"
|
||||
|
||||
LEAF_KWP_SESSIONS = (
|
||||
(LEAF_KWP_AFTER_SALES_REQUEST, LEAF_KWP_AFTER_SALES_RESPONSE),
|
||||
(NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_DIAGNOSTIC_RESPONSE_KWP),
|
||||
LEAF_KWP_TAKEOVER_SESSIONS = (
|
||||
(LEAF_KWP_DATA_MONITOR_REQUEST, LEAF_KWP_DATA_MONITOR_RESPONSE),
|
||||
)
|
||||
|
||||
|
||||
@@ -68,25 +65,45 @@ def leaf_adas_commands_silent(can_recv, settle_time=0.05, observe_time=0.15):
|
||||
return saw_adas_bus_traffic
|
||||
|
||||
|
||||
def leaf_adas_commands_present(can_recv, settle_time=0.05, observe_time=0.15):
|
||||
"""Confirm the stock ADAS command sender resumed on bus 1."""
|
||||
if can_recv is None:
|
||||
return False
|
||||
|
||||
try:
|
||||
time.sleep(settle_time)
|
||||
can_recv()
|
||||
|
||||
deadline = time.monotonic() + observe_time
|
||||
while time.monotonic() < deadline:
|
||||
for packet in can_recv(wait_for_one=True):
|
||||
if any(msg.src == LEAF_ADAS_COMMAND_BUS and msg.address in LEAF_ADAS_COMMAND_ADDRS for msg in packet):
|
||||
return True
|
||||
except Exception as e:
|
||||
ecu_log(f"Nissan Leaf ADAS TX recovery verification exception: {e}")
|
||||
return False
|
||||
|
||||
ecu_log("Nissan Leaf ADAS normal TX recovery could not be verified")
|
||||
return False
|
||||
|
||||
|
||||
def restore_leaf_adas_tx(can_recv, can_send):
|
||||
"""Re-enable normal KWP message transmission, trying both safe diagnostic sessions."""
|
||||
"""Return to the confirmed KWP default session and verify normal TX resumes."""
|
||||
if can_recv is None or can_send is None:
|
||||
return False
|
||||
|
||||
for diag_request, diag_response in LEAF_KWP_SESSIONS:
|
||||
try:
|
||||
ecu_log(f"Nissan Leaf ADAS TX restore using KWP session {diag_request.hex()}")
|
||||
query = IsoTpParallelQuery(
|
||||
can_send, can_recv, LEAF_ADAS_ECU_BUS, [LEAF_ADAS_ECU_ADDR],
|
||||
[diag_request, LEAF_KWP_ENABLE_NORMAL_TX],
|
||||
[diag_response, LEAF_KWP_ENABLE_NORMAL_TX_RESPONSE],
|
||||
response_offset=NISSAN_RX_OFFSET,
|
||||
)
|
||||
if query.get_data(0.2):
|
||||
ecu_log("Nissan Leaf ADAS normal TX restored")
|
||||
return True
|
||||
except Exception as e:
|
||||
ecu_log(f"Nissan Leaf ADAS TX restore exception: {e}")
|
||||
try:
|
||||
ecu_log("Nissan Leaf ADAS TX restore using KWP default session 1081")
|
||||
query = IsoTpParallelQuery(
|
||||
can_send, can_recv, LEAF_ADAS_ECU_BUS, [LEAF_ADAS_ECU_ADDR],
|
||||
[NISSAN_DIAGNOSTIC_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP],
|
||||
response_offset=NISSAN_RX_OFFSET,
|
||||
)
|
||||
if query.get_data(0.2) and leaf_adas_commands_present(can_recv):
|
||||
ecu_log("Nissan Leaf ADAS normal TX restored and command traffic confirmed")
|
||||
return True
|
||||
except Exception as e:
|
||||
ecu_log(f"Nissan Leaf ADAS TX restore exception: {e}")
|
||||
|
||||
ecu_log("Nissan Leaf ADAS normal TX restore was not confirmed")
|
||||
return False
|
||||
@@ -141,10 +158,10 @@ class CarInterface(CarInterfaceBase):
|
||||
from openpilot.common.params import Params
|
||||
params = Params()
|
||||
ecu_disabled = False
|
||||
for diag_request, diag_response in LEAF_KWP_SESSIONS:
|
||||
for diag_request, diag_response in LEAF_KWP_TAKEOVER_SESSIONS:
|
||||
ecu_log(f"Nissan Leaf ADAS takeover using KWP session {diag_request.hex()}")
|
||||
ecu_disabled = disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
|
||||
com_cont_req=LEAF_KWP_DISABLE_NORMAL_TX, require_response=True, retry=3,
|
||||
com_cont_req=LEAF_KWP_DISABLE_NORMAL_TX, require_response=True, retry=1,
|
||||
diag_request=diag_request, diag_response=diag_response, response_offset=NISSAN_RX_OFFSET)
|
||||
if ecu_disabled:
|
||||
break
|
||||
|
||||
@@ -5,7 +5,8 @@ import pytest
|
||||
from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.nissan.carstate import CarState
|
||||
from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW, leaf_adas_commands_silent, restore_leaf_adas_tx
|
||||
from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW, leaf_adas_commands_present, \
|
||||
leaf_adas_commands_silent, restore_leaf_adas_tx
|
||||
from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlags
|
||||
|
||||
|
||||
@@ -143,28 +144,24 @@ def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled):
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
CarInterface.init(CP, None, None)
|
||||
|
||||
assert len(calls) == (1 if ecu_disabled else 2)
|
||||
assert len(calls) == 1
|
||||
assert calls[0]["addr"] == 0x707
|
||||
assert calls[0]["bus"] == 0
|
||||
assert calls[0]["response_offset"] == 0x20
|
||||
assert calls[0]["require_response"] is True
|
||||
assert calls[0]["diag_request"] == b"\x10\xc0"
|
||||
assert calls[0]["diag_response"] == b"\x50\xc0"
|
||||
assert calls[0]["diag_request"] == b"\x10\xf0"
|
||||
assert calls[0]["diag_response"] == b"\x50\xf0"
|
||||
assert calls[0]["com_cont_req"] == b"\x28\x01"
|
||||
assert calls[0]["retry"] == 3
|
||||
if not ecu_disabled:
|
||||
assert calls[1]["diag_request"] == b"\x10\x81"
|
||||
assert calls[1]["diag_response"] == b"\x50\x81"
|
||||
assert calls[0]["retry"] == 1
|
||||
assert CP.openpilotLongitudinalControl is ecu_disabled
|
||||
assert CP.pcmCruise is not ecu_disabled
|
||||
assert bool(CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL) is ecu_disabled
|
||||
|
||||
|
||||
def test_leaf_kwp_session_can_confirm_ecu_disable(monkeypatch):
|
||||
def test_leaf_kwp_data_monitor_session_can_confirm_ecu_disable(monkeypatch):
|
||||
CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
|
||||
results = iter((False, True))
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: next(results))
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
CarInterface.init(CP, None, None)
|
||||
@@ -205,7 +202,17 @@ def test_leaf_adas_command_silence_requires_live_bus_without_stock_commands(monk
|
||||
assert not leaf_adas_commands_silent(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
|
||||
|
||||
|
||||
def test_leaf_adas_restore_uses_kwp_enable_normal_transmission(monkeypatch):
|
||||
def test_leaf_adas_command_recovery_requires_stock_command(monkeypatch):
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
|
||||
def stock_command_traffic(wait_for_one=False):
|
||||
return [] if not wait_for_one else [[CanData(0x1C3, b"\x00" * 8, 1)]]
|
||||
|
||||
assert leaf_adas_commands_present(stock_command_traffic, settle_time=0, observe_time=0.001)
|
||||
assert not leaf_adas_commands_present(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
|
||||
|
||||
|
||||
def test_leaf_adas_restore_returns_to_kwp_default_session(monkeypatch):
|
||||
queries = []
|
||||
|
||||
class FakeQuery:
|
||||
@@ -216,7 +223,8 @@ def test_leaf_adas_restore_uses_kwp_enable_normal_transmission(monkeypatch):
|
||||
return {(0x707, None): b""}
|
||||
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.IsoTpParallelQuery", FakeQuery)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_present", lambda *_: True)
|
||||
monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
|
||||
|
||||
assert restore_leaf_adas_tx(lambda **kwargs: [], lambda msgs: None)
|
||||
assert queries == [(0, [0x707], [b"\x10\xc0", b"\x29\x01"], [b"\x50\xc0", b"\x69"], 0x20)]
|
||||
assert queries == [(0, [0x707], [b"\x10\x81"], [b"\x50\x81"], 0x20)]
|
||||
|
||||
@@ -70,8 +70,9 @@ class CarInterface(CarInterfaceBase):
|
||||
late_prius_camera = candidate == CAR.TOYOTA_PRIUS and any(
|
||||
fw.ecu == Ecu.fwdCamera and bytes(fw.fwVersion).startswith(b'8646F4705') for fw in car_fw
|
||||
)
|
||||
if candidate == CAR.LEXUS_IS or late_prius_camera:
|
||||
has_dsu_bypass = ((0x343 in camera_fingerprint and 0x343 not in fingerprint.get(1, {})) or
|
||||
if candidate in (CAR.LEXUS_IS, CAR.TOYOTA_CAMRY) or late_prius_camera:
|
||||
native_acc_fingerprints = (fingerprint.get(0, {}), fingerprint.get(1, {}))
|
||||
has_dsu_bypass = ((0x343 in camera_fingerprint and not any(0x343 in native_bus for native_bus in native_acc_fingerprints)) or
|
||||
(0x4CB in camera_fingerprint and 0x4CB not in fingerprint.get(0, {})))
|
||||
if not use_sdsu and candidate not in TSS2_CAR and has_dsu_bypass:
|
||||
ret.flags |= ToyotaFlags.DSU_BYPASS.value
|
||||
|
||||
@@ -284,6 +284,36 @@ class TestToyotaInterfaces:
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.ALT_CRUISE.value
|
||||
|
||||
def test_camry_ignores_startup_acc_bus_mirror(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
fingerprint[0][0x343] = 8
|
||||
fingerprint[2][0x343] = 8
|
||||
|
||||
car_params = CarInterface.get_params(
|
||||
CAR.TOYOTA_CAMRY,
|
||||
fingerprint,
|
||||
[CarParams.CarFw(ecu=Ecu.hybrid, address=0x7D2, fwVersion=b"test")],
|
||||
alpha_long=False,
|
||||
is_release=False,
|
||||
docs=False,
|
||||
starpilot_toggles=SimpleNamespace(),
|
||||
)
|
||||
|
||||
assert car_params.flags & ToyotaFlags.HYBRID.value
|
||||
assert not car_params.flags & ToyotaFlags.DSU_BYPASS.value
|
||||
assert not car_params.openpilotLongitudinalControl
|
||||
assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
|
||||
|
||||
starpilot_params = CarInterface.get_starpilot_params(
|
||||
CAR.TOYOTA_CAMRY, fingerprint, [], car_params, SimpleNamespace(),
|
||||
)
|
||||
car_state = CarState(car_params, starpilot_params)
|
||||
can_parsers = car_state.get_can_parsers(car_params)
|
||||
car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
|
||||
assert "PRE_COLLISION" in can_parsers[Bus.pt].vl
|
||||
for message in ("ACC_CONTROL", "PRE_COLLISION"):
|
||||
assert message not in can_parsers[Bus.cam].vl
|
||||
|
||||
@pytest.mark.parametrize(("native_bus", "message"), [(1, 0x343), (0, 0x4CB)])
|
||||
def test_prius_dsu_bypass_allows_native_bus_message(self, native_bus, message):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
|
||||
@@ -62,7 +62,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kiV = [0., 0.12]
|
||||
ret.lateralTuning.pid.kf = 1.
|
||||
|
||||
if any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):
|
||||
if docs or any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.radarUnavailable = Bus.radar not in DBC[candidate]
|
||||
else:
|
||||
|
||||
@@ -45,6 +45,14 @@ class TestVolkswagenPlatformConfigs:
|
||||
assert not cp.openpilotLongitudinalControl
|
||||
assert not (cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL)
|
||||
|
||||
def test_meb_docs_assume_required_gateway_harness(self):
|
||||
fingerprint = {bus: {} for bus in range(8)}
|
||||
cp = CarInterface.get_params(CAR.VOLKSWAGEN_ID4_MK1, fingerprint, [], True, False, True, None)
|
||||
|
||||
assert cp.networkLocation == CarParams.NetworkLocation.gateway
|
||||
assert not cp.dashcamOnly
|
||||
assert cp.alphaLongitudinalAvailable
|
||||
|
||||
def test_meb_gateway_longitudinal(self):
|
||||
cp = self._get_meb_params(CAR.VOLKSWAGEN_ID4_MK1, gateway=True, alpha_long=True)
|
||||
assert cp.alphaLongitudinalAvailable
|
||||
|
||||
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@@ -1,2 +1,2 @@
|
||||
extern const uint8_t gitversion[19];
|
||||
const uint8_t gitversion[19] = "DEV-21805a54-DEBUG";
|
||||
const uint8_t gitversion[19] = "DEV-4078e6fc-DEBUG";
|
||||
|
||||
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@@ -1 +1 @@
|
||||
DEV-21805a54-DEBUG
|
||||
DEV-4078e6fc-DEBUG
|
||||
@@ -21,14 +21,24 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|
||||
{% endfor %}
|
||||
|
||||
## StarPilot Community Cars
|
||||
|
||||
These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
|
||||
|
||||
# {{starpilot_community_car_docs | length}} Community Cars
|
||||
|
||||
|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
|
||||
|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
|
||||
{% for car_docs in starpilot_community_car_docs %}
|
||||
|{% for column in Column %}{{car_docs.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
|
||||
|
||||
{% endfor %}
|
||||
|
||||
### Footnotes
|
||||
{% for footnote in footnotes %}
|
||||
<sup>{{loop.index}}</sup>{{footnote | replace('</br>', '')}} <br />
|
||||
{% endfor %}
|
||||
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
# Don't see your car here?
|
||||
|
||||
**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
|
||||
@@ -71,4 +81,3 @@ openpilot does not yet support these Toyota models due to a new message authenti
|
||||
* Lexus NX 2022+
|
||||
* Toyota bZ4x 2023+
|
||||
* Subaru Solterra 2023+
|
||||
|
||||
|
||||
+25
-1
@@ -3,11 +3,35 @@ import argparse
|
||||
import os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.docs import get_all_car_docs, generate_cars_md
|
||||
from opendbc.car.docs_definitions import CarDocs, SupportType
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
|
||||
CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
|
||||
CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
|
||||
|
||||
|
||||
def get_starpilot_community_car_docs(all_car_docs: list[CarDocs]) -> list[CarDocs]:
|
||||
return [car_docs for car_docs in all_car_docs
|
||||
if car_docs.support_type == SupportType.COMMUNITY and
|
||||
car_docs.car_fingerprint != MOCK.MOCK and
|
||||
car_docs.car_fingerprint in interfaces]
|
||||
|
||||
|
||||
def get_starpilot_supported_car_docs(all_car_docs: list[CarDocs]) -> list[CarDocs]:
|
||||
upstream_car_docs = [car_docs for car_docs in all_car_docs if car_docs.support_type == SupportType.UPSTREAM]
|
||||
return upstream_car_docs + get_starpilot_community_car_docs(all_car_docs)
|
||||
|
||||
|
||||
def generate_starpilot_cars_md(all_car_docs: list[CarDocs], template_fn: str) -> str:
|
||||
return generate_cars_md(
|
||||
all_car_docs,
|
||||
template_fn,
|
||||
starpilot_community_car_docs=get_starpilot_community_car_docs(all_car_docs),
|
||||
)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
|
||||
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
||||
@@ -17,5 +41,5 @@ if __name__ == "__main__":
|
||||
args = parser.parse_args()
|
||||
|
||||
with open(args.out, 'w') as f:
|
||||
f.write(generate_cars_md(get_all_car_docs(), args.template))
|
||||
f.write(generate_starpilot_cars_md(get_all_car_docs(), args.template))
|
||||
print(f"Generated and written to {args.out}")
|
||||
|
||||
@@ -1,10 +1,18 @@
|
||||
import os
|
||||
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from opendbc.car.docs import generate_cars_md, get_all_car_docs
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.docs import get_all_car_docs
|
||||
from opendbc.car.docs_definitions import SupportType
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
|
||||
from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
|
||||
from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
|
||||
from openpilot.selfdrive.car.docs import (
|
||||
CARS_MD_TEMPLATE,
|
||||
generate_starpilot_cars_md,
|
||||
get_starpilot_community_car_docs,
|
||||
get_starpilot_supported_car_docs,
|
||||
)
|
||||
|
||||
|
||||
class TestCarDocs:
|
||||
@@ -13,7 +21,26 @@ class TestCarDocs:
|
||||
cls.all_cars = get_all_car_docs()
|
||||
|
||||
def test_generator(self):
|
||||
generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
generate_starpilot_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
|
||||
def test_starpilot_community_cars_are_registered(self):
|
||||
community_cars = get_starpilot_community_car_docs(self.all_cars)
|
||||
|
||||
assert community_cars
|
||||
assert all(car.support_type == SupportType.COMMUNITY for car in community_cars)
|
||||
assert all(car.car_fingerprint != MOCK.MOCK for car in community_cars)
|
||||
assert all(car.car_fingerprint in interfaces for car in community_cars)
|
||||
|
||||
def test_every_starpilot_supported_car_is_rendered(self):
|
||||
rendered_docs = generate_starpilot_cars_md(self.all_cars, CARS_MD_TEMPLATE)
|
||||
supported_cars = get_starpilot_supported_car_docs(self.all_cars)
|
||||
|
||||
assert supported_cars
|
||||
for car in supported_cars:
|
||||
expected_row = f"|{car.model} {car.years}".rstrip()
|
||||
assert expected_row in rendered_docs, f"Missing supported car from CARS.md: {car.name}"
|
||||
|
||||
assert "|Subaru|Ascent 2023-25|" in rendered_docs
|
||||
|
||||
def test_docs_diff(self):
|
||||
dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
|
||||
|
||||
@@ -709,7 +709,7 @@ IONIQ_5_LOW_SPEED_CENTER_LAT = 0.40
|
||||
IONIQ_5_LOW_SPEED_CENTER_LAT_WIDTH = 0.10
|
||||
IONIQ_5_LOW_SPEED_CENTER_JERK = 0.40
|
||||
IONIQ_5_LOW_SPEED_CENTER_JERK_WIDTH = 0.12
|
||||
IONIQ_5_FRICTION_JERK_DEADZONE_MAX = 0.30
|
||||
IONIQ_5_FRICTION_JERK_DEADZONE_MAX = 0.36
|
||||
IONIQ_5_FRICTION_JERK_DEADZONE_LAT = 1.25
|
||||
IONIQ_5_FRICTION_JERK_DEADZONE_LAT_WIDTH = 0.35
|
||||
IONIQ_5_FRICTION_JERK_DEADZONE_SPEED = 18.0
|
||||
@@ -866,7 +866,7 @@ IONIQ_6_CURVY_TURN_IN_TRIM_LAT_START = 1.0
|
||||
IONIQ_6_CURVY_TURN_IN_TRIM_LAT_END = 2.5
|
||||
IONIQ_6_CURVY_TURN_IN_TRIM_LAT_ONSET_WIDTH = 0.18
|
||||
IONIQ_6_CURVY_TURN_IN_TRIM_LAT_CUTOFF_WIDTH = 0.30
|
||||
IONIQ_6_2023_UNWIND_FF_REDUCTION_MAX = 0.18
|
||||
IONIQ_6_2023_UNWIND_FF_REDUCTION_MAX = 0.24
|
||||
IONIQ_6_2023_UNWIND_FF_OVERSHOOT = 0.15
|
||||
IONIQ_6_2023_UNWIND_FF_OVERSHOOT_WIDTH = 0.18
|
||||
IONIQ_6_2023_UNWIND_FF_JERK = 0.10
|
||||
|
||||
@@ -28,6 +28,9 @@ FOLLOW_TRANSITION_MIN_TTC = 6.0
|
||||
FOLLOW_HEADWAY_MARGIN = 0.90
|
||||
FOLLOW_SIGN_CROSS_STEP = 0.10
|
||||
FOLLOW_TRANSITION_MAX_BRAKE = 0.25
|
||||
FOLLOW_STEADY_DEADBAND_MAX_TARGET = 0.28
|
||||
FOLLOW_STEADY_DEADBAND_MAX_CLOSING = 0.75
|
||||
FOLLOW_STEADY_DEADBAND_MAX_HEADWAY_MARGIN = 0.90
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
@@ -184,6 +187,25 @@ def _transition_target(lead, v_ego: float, t_follow: float, previous: float, tar
|
||||
return limited if abs(limited - float(target)) > 1e-6 else None
|
||||
|
||||
|
||||
def _steady_follow_deadband(lead, v_ego: float, t_follow: float, previous: float, target: float) -> float:
|
||||
"""Remove only small sign reversals in an already matched, non-urgent follow."""
|
||||
if not _matched(lead, v_ego, t_follow):
|
||||
return float(target)
|
||||
if float(lead.vLead) - float(v_ego) > 0.15:
|
||||
return float(target)
|
||||
if max(0.0, float(v_ego) - float(lead.vLead)) > FOLLOW_STEADY_DEADBAND_MAX_CLOSING:
|
||||
return float(target)
|
||||
if _headway(lead, v_ego) - float(t_follow) > FOLLOW_STEADY_DEADBAND_MAX_HEADWAY_MARGIN:
|
||||
return float(target)
|
||||
if (
|
||||
float(previous) * float(target) < 0.0 and
|
||||
abs(float(previous)) <= FOLLOW_STEADY_DEADBAND_MAX_TARGET and
|
||||
abs(float(target)) <= FOLLOW_STEADY_DEADBAND_MAX_TARGET
|
||||
):
|
||||
return 0.0
|
||||
return float(target)
|
||||
|
||||
|
||||
def apply(lead_one, lead_two, *, source: str, active: bool, v_ego: float, t_follow: float,
|
||||
previous_target: float, raw_target: float, tracking: bool, post_departure: bool,
|
||||
blocked: bool, panic_bypass: bool) -> FollowResult:
|
||||
@@ -202,7 +224,11 @@ def apply(lead_one, lead_two, *, source: str, active: bool, v_ego: float, t_foll
|
||||
target = max(target, floor)
|
||||
if cap is not None:
|
||||
target = min(target, cap)
|
||||
transition = _transition_target(lead, v_ego, t_follow, previous_target, target)
|
||||
if transition is not None:
|
||||
target = transition
|
||||
deadband_target = _steady_follow_deadband(lead, v_ego, t_follow, previous_target, target)
|
||||
if deadband_target != target:
|
||||
target = deadband_target
|
||||
else:
|
||||
transition = _transition_target(lead, v_ego, t_follow, previous_target, target)
|
||||
if transition is not None:
|
||||
target = transition
|
||||
return FollowResult(lead, cap, floor, target)
|
||||
|
||||
@@ -27,11 +27,11 @@ GM_TRUCK_TARGET_FILTER_DROP_BYPASS = 0.45
|
||||
TOYOTA_SIENNA_TARGET_FILTER_MIN_SPEED = 12.0
|
||||
TOYOTA_SIENNA_TARGET_FILTER_UP_TAU = 0.32
|
||||
TOYOTA_SIENNA_TARGET_FILTER_DOWN_TAU = 0.24
|
||||
TOYOTA_SIENNA_LOW_SPEED_ACCEL_UP_TAU = 0.35
|
||||
TOYOTA_SIENNA_LOW_SPEED_ACCEL_UP_TAU = 0.50
|
||||
TOYOTA_SIENNA_TARGET_FILTER_BRAKE_BYPASS = -0.75
|
||||
TOYOTA_SIENNA_TARGET_FILTER_DROP_BYPASS = 0.65
|
||||
TOYOTA_SIENNA_COMFORT_FILTER_MIN_SPEED = 5.0
|
||||
TOYOTA_SIENNA_COMFORT_FILTER_MIN_DISTANCE = 10.0
|
||||
TOYOTA_SIENNA_COMFORT_FILTER_MIN_SPEED = 1.0
|
||||
TOYOTA_SIENNA_COMFORT_FILTER_MIN_DISTANCE = 7.0
|
||||
TOYOTA_SIENNA_COMFORT_FILTER_MIN_TTC = 4.5
|
||||
TOYOTA_SIENNA_COMFORT_FILTER_MAX_CLOSING_SPEED = 4.0
|
||||
TOYOTA_SIENNA_COMFORT_FILTER_MAX_LEAD_BRAKE = 2.5
|
||||
@@ -295,7 +295,9 @@ class LongControlVehicleTuning:
|
||||
|
||||
if v_ego < TOYOTA_SIENNA_TARGET_FILTER_MIN_SPEED and not comfort_filter_active:
|
||||
if a_target > 0.0:
|
||||
if not self.toyota_sienna_target_filter_initialized or self.toyota_sienna_filtered_a_target < 0.0:
|
||||
if not self.toyota_sienna_target_filter_initialized or (
|
||||
self.toyota_sienna_filtered_a_target < 0.0 and comfort_lead is None
|
||||
):
|
||||
self.toyota_sienna_filtered_a_target = 0.0
|
||||
self.toyota_sienna_target_filter_initialized = True
|
||||
alpha = DT_CTRL / (TOYOTA_SIENNA_LOW_SPEED_ACCEL_UP_TAU + DT_CTRL)
|
||||
@@ -304,6 +306,11 @@ class LongControlVehicleTuning:
|
||||
)
|
||||
return self.toyota_sienna_filtered_a_target
|
||||
|
||||
if comfort_lead is not None:
|
||||
self.toyota_sienna_filtered_a_target = float(a_target)
|
||||
self.toyota_sienna_target_filter_initialized = True
|
||||
return float(a_target)
|
||||
|
||||
self.toyota_sienna_target_filter_initialized = False
|
||||
return a_target
|
||||
|
||||
|
||||
@@ -138,6 +138,8 @@ LEAD_ACCEL_TAU = 1.5
|
||||
FCW_MIN_MODEL_PROB = 0.9
|
||||
FCW_MIN_CLOSING_SPEED = 0.5
|
||||
FCW_MAX_TTC = 4.0
|
||||
MODEL_LEAD_TRAJECTORY_MAX_LEAD_BRAKE = 0.5
|
||||
MODEL_LEAD_TRAJECTORY_MAX_CLOSING_TTC = 7.0
|
||||
|
||||
|
||||
# Fewer timestamps don't hurt performance and lead to
|
||||
@@ -178,6 +180,17 @@ def build_model_lead_trajectory(model_lead, radar_lead, v_ego):
|
||||
if not np.isfinite(raw_d_rel) or not np.isfinite(raw_v_lead):
|
||||
return None
|
||||
|
||||
# The model path is a comfort prediction, not the raw safety measurement.
|
||||
# When the measured lead is already braking or the gap is closing quickly,
|
||||
# keep the legacy raw-lead path so an optimistic model horizon cannot delay
|
||||
# the first braking response.
|
||||
raw_lead_brake = max(0.0, -float(getattr(radar_lead, "aLeadK", 0.0)))
|
||||
closing_speed = max(0.0, float(v_ego) - raw_v_lead)
|
||||
ttc = raw_d_rel / max(closing_speed, 1e-3) if closing_speed > 0.1 else float("inf")
|
||||
if (raw_lead_brake > MODEL_LEAD_TRAJECTORY_MAX_LEAD_BRAKE or
|
||||
(closing_speed > 0.75 and ttc < MODEL_LEAD_TRAJECTORY_MAX_CLOSING_TTC)):
|
||||
return None
|
||||
|
||||
# The model contributes future deltas only. This preserves raw lead source
|
||||
# selection and keeps the current lead distance/speed safety anchor intact.
|
||||
x_lead_traj = raw_d_rel + (model_x - model_x[0])
|
||||
|
||||
@@ -60,6 +60,18 @@ def test_follow_policy_limits_small_post_lead_reversal():
|
||||
assert result.target - (-0.08) <= 0.18
|
||||
|
||||
|
||||
def test_follow_policy_deadbands_small_steady_sign_reversal():
|
||||
result = run(lead(d_rel=37.2, v_lead=24.0, radar=True), v_ego=24.0, previous=0.24, raw=-0.24)
|
||||
|
||||
assert result.target == pytest.approx(0.0)
|
||||
|
||||
|
||||
def test_follow_policy_deadband_does_not_mask_closing_lead():
|
||||
result = run(lead(d_rel=37.2, v_lead=22.5, a_lead=-1.0, radar=True), v_ego=24.0, previous=0.24, raw=-0.24)
|
||||
|
||||
assert result.target < 0.0
|
||||
|
||||
|
||||
def test_follow_policy_never_relaxes_material_braking():
|
||||
result = run(lead(d_rel=25.0, v_lead=18.0), v_ego=25.0, previous=0.30, raw=-1.2)
|
||||
assert result.target == pytest.approx(-1.2)
|
||||
|
||||
@@ -1235,6 +1235,37 @@ def test_toyota_sienna_target_filter_smooths_mild_high_speed_handoffs():
|
||||
|
||||
assert -0.20 < filtered < 0.30
|
||||
|
||||
def test_toyota_sienna_target_filter_smooths_nonurgent_low_speed_lead_braking():
|
||||
CP = make_longcontrol_cp(brand="toyota", carFingerprint=TOYOTA_CAR.TOYOTA_SIENNA_4TH_GEN)
|
||||
tuning = vehicle_tunes.LongControlVehicleTuning(CP)
|
||||
lead = SimpleNamespace(status=True, yRel=0.0, dRel=10.0, vLead=3.5, aLeadK=-0.4)
|
||||
|
||||
tuning.shape_toyota_sienna_accel_target(0.45, 5.0, False, leads=(lead,))
|
||||
filtered = tuning.shape_toyota_sienna_accel_target(-1.0, 5.0, False, leads=(lead,))
|
||||
|
||||
assert -1.0 < filtered < 0.45
|
||||
|
||||
|
||||
def test_toyota_sienna_target_filter_keeps_urgent_low_speed_braking():
|
||||
CP = make_longcontrol_cp(brand="toyota", carFingerprint=TOYOTA_CAR.TOYOTA_SIENNA_4TH_GEN)
|
||||
tuning = vehicle_tunes.LongControlVehicleTuning(CP)
|
||||
lead = SimpleNamespace(status=True, yRel=0.0, dRel=5.0, vLead=0.0, aLeadK=-1.5)
|
||||
|
||||
filtered = tuning.shape_toyota_sienna_accel_target(-1.0, 3.0, False, leads=(lead,))
|
||||
|
||||
assert filtered == pytest.approx(-1.0)
|
||||
|
||||
|
||||
def test_toyota_sienna_target_filter_ramps_out_of_low_speed_braking_with_lead_present():
|
||||
CP = make_longcontrol_cp(brand="toyota", carFingerprint=TOYOTA_CAR.TOYOTA_SIENNA_4TH_GEN)
|
||||
tuning = vehicle_tunes.LongControlVehicleTuning(CP)
|
||||
lead = SimpleNamespace(status=True, yRel=0.0, dRel=6.5, vLead=1.5, aLeadK=-0.2)
|
||||
|
||||
tuning.shape_toyota_sienna_accel_target(-0.8, 1.5, False, leads=(lead,))
|
||||
release = tuning.shape_toyota_sienna_accel_target(0.2, 1.5, False, leads=(lead,))
|
||||
|
||||
assert -0.8 < release < 0.0
|
||||
|
||||
|
||||
def test_toyota_sienna_target_filter_unwinds_braking_before_acceleration():
|
||||
CP = make_longcontrol_cp(brand="toyota", carFingerprint=TOYOTA_CAR.TOYOTA_SIENNA_4TH_GEN)
|
||||
|
||||
@@ -376,6 +376,17 @@ def test_model_lead_trajectory_falls_back_without_raw_lead_or_valid_shape():
|
||||
assert build_model_lead_trajectory(short_model_lead, raw_lead, 20.0) is None
|
||||
|
||||
|
||||
@pytest.mark.parametrize("d_rel,v_lead,a_lead", [
|
||||
(42.0, 18.0, -0.6),
|
||||
(8.0, 0.0, 0.0),
|
||||
])
|
||||
def test_model_lead_trajectory_falls_back_for_urgent_raw_lead(d_rel, v_lead, a_lead):
|
||||
raw_lead = make_lead(status=True, d_rel=d_rel, v_lead=v_lead, a_lead=a_lead, model_prob=0.99)
|
||||
_, model_lead = make_model_lead()
|
||||
|
||||
assert build_model_lead_trajectory(model_lead, raw_lead, 20.0) is None
|
||||
|
||||
|
||||
def set_model_launch_trajectory(model, *, wait_time: float = 0.6, accel: float = 1.0):
|
||||
times = np.asarray(ModelConstants.T_IDXS, dtype=float)
|
||||
moving_time = np.maximum(times - wait_time, 0.0)
|
||||
|
||||
@@ -261,6 +261,21 @@ def test_curve_speed_controller_persists_data_after_leaving_curve():
|
||||
assert any(key == "CurvatureData" for key, _ in planner.params.writes)
|
||||
|
||||
|
||||
def test_curve_speed_controller_publishes_live_values_to_memory_params():
|
||||
planner, vcruise = make_vcruise(road_curvature=0.02)
|
||||
sm = make_sm(standstill=False)
|
||||
sm["carControl"].longActive = False
|
||||
planner.driving_in_curve = True
|
||||
planner.lateral_acceleration = 2.4
|
||||
vcruise.csc.training_timer = PLANNER_TIME
|
||||
|
||||
vcruise.csc.log_data(20.0, sm)
|
||||
|
||||
assert any(key == "CalibratedLateralAcceleration" for key, _ in planner.params_memory.writes)
|
||||
assert any(key == "CalibrationProgress" for key, _ in planner.params_memory.writes)
|
||||
assert planner.params_memory.values["CalibrationProgress"] > 0.0
|
||||
|
||||
|
||||
def test_curve_speed_controller_ramps_toward_curve_speed_at_bounded_rate():
|
||||
planner = SimpleNamespace(
|
||||
params=FakeParams(),
|
||||
@@ -492,6 +507,31 @@ def test_force_stop_stays_committed_while_moving_even_if_scene_opens():
|
||||
assert vcruise.forcing_stop
|
||||
|
||||
|
||||
def test_force_stop_reanchors_when_model_reopens_path_without_stop_action():
|
||||
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
|
||||
planner.model_length = 40.0
|
||||
vcruise.tracked_model_length = 10.0
|
||||
sm = make_sm(standstill=False)
|
||||
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
|
||||
|
||||
result = update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
|
||||
|
||||
assert vcruise.tracked_model_length == pytest.approx(40.0)
|
||||
assert result > 5.0
|
||||
|
||||
|
||||
def test_force_stop_does_not_reanchor_committed_model_stop():
|
||||
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
|
||||
planner.model_length = 40.0
|
||||
vcruise.tracked_model_length = 10.0
|
||||
sm = make_sm(standstill=False)
|
||||
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=True))
|
||||
|
||||
update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
|
||||
|
||||
assert vcruise.tracked_model_length < 10.0
|
||||
|
||||
|
||||
def test_force_stop_releases_after_cem_light_clears_while_moving():
|
||||
planner, vcruise = make_vcruise(red_light=True, raw_model_stopped=False, forcing_stop=True)
|
||||
sm = make_sm(standstill=False)
|
||||
|
||||
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
|
||||
* *
|
||||
* This file is part of 'ekf' *
|
||||
******************************************************************************/
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_5328892797193692082) {
|
||||
out_5328892797193692082[0] = delta_x[0] + nom_x[0];
|
||||
out_5328892797193692082[1] = delta_x[1] + nom_x[1];
|
||||
out_5328892797193692082[2] = delta_x[2] + nom_x[2];
|
||||
out_5328892797193692082[3] = delta_x[3] + nom_x[3];
|
||||
out_5328892797193692082[4] = delta_x[4] + nom_x[4];
|
||||
out_5328892797193692082[5] = delta_x[5] + nom_x[5];
|
||||
out_5328892797193692082[6] = delta_x[6] + nom_x[6];
|
||||
out_5328892797193692082[7] = delta_x[7] + nom_x[7];
|
||||
out_5328892797193692082[8] = delta_x[8] + nom_x[8];
|
||||
void err_fun(double *nom_x, double *delta_x, double *out_555027713999943867) {
|
||||
out_555027713999943867[0] = delta_x[0] + nom_x[0];
|
||||
out_555027713999943867[1] = delta_x[1] + nom_x[1];
|
||||
out_555027713999943867[2] = delta_x[2] + nom_x[2];
|
||||
out_555027713999943867[3] = delta_x[3] + nom_x[3];
|
||||
out_555027713999943867[4] = delta_x[4] + nom_x[4];
|
||||
out_555027713999943867[5] = delta_x[5] + nom_x[5];
|
||||
out_555027713999943867[6] = delta_x[6] + nom_x[6];
|
||||
out_555027713999943867[7] = delta_x[7] + nom_x[7];
|
||||
out_555027713999943867[8] = delta_x[8] + nom_x[8];
|
||||
}
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) {
|
||||
out_6664197118630309465[0] = -nom_x[0] + true_x[0];
|
||||
out_6664197118630309465[1] = -nom_x[1] + true_x[1];
|
||||
out_6664197118630309465[2] = -nom_x[2] + true_x[2];
|
||||
out_6664197118630309465[3] = -nom_x[3] + true_x[3];
|
||||
out_6664197118630309465[4] = -nom_x[4] + true_x[4];
|
||||
out_6664197118630309465[5] = -nom_x[5] + true_x[5];
|
||||
out_6664197118630309465[6] = -nom_x[6] + true_x[6];
|
||||
out_6664197118630309465[7] = -nom_x[7] + true_x[7];
|
||||
out_6664197118630309465[8] = -nom_x[8] + true_x[8];
|
||||
void inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) {
|
||||
out_7816877518147233589[0] = -nom_x[0] + true_x[0];
|
||||
out_7816877518147233589[1] = -nom_x[1] + true_x[1];
|
||||
out_7816877518147233589[2] = -nom_x[2] + true_x[2];
|
||||
out_7816877518147233589[3] = -nom_x[3] + true_x[3];
|
||||
out_7816877518147233589[4] = -nom_x[4] + true_x[4];
|
||||
out_7816877518147233589[5] = -nom_x[5] + true_x[5];
|
||||
out_7816877518147233589[6] = -nom_x[6] + true_x[6];
|
||||
out_7816877518147233589[7] = -nom_x[7] + true_x[7];
|
||||
out_7816877518147233589[8] = -nom_x[8] + true_x[8];
|
||||
}
|
||||
void H_mod_fun(double *state, double *out_7049792320674666550) {
|
||||
out_7049792320674666550[0] = 1.0;
|
||||
out_7049792320674666550[1] = 0.0;
|
||||
out_7049792320674666550[2] = 0.0;
|
||||
out_7049792320674666550[3] = 0.0;
|
||||
out_7049792320674666550[4] = 0.0;
|
||||
out_7049792320674666550[5] = 0.0;
|
||||
out_7049792320674666550[6] = 0.0;
|
||||
out_7049792320674666550[7] = 0.0;
|
||||
out_7049792320674666550[8] = 0.0;
|
||||
out_7049792320674666550[9] = 0.0;
|
||||
out_7049792320674666550[10] = 1.0;
|
||||
out_7049792320674666550[11] = 0.0;
|
||||
out_7049792320674666550[12] = 0.0;
|
||||
out_7049792320674666550[13] = 0.0;
|
||||
out_7049792320674666550[14] = 0.0;
|
||||
out_7049792320674666550[15] = 0.0;
|
||||
out_7049792320674666550[16] = 0.0;
|
||||
out_7049792320674666550[17] = 0.0;
|
||||
out_7049792320674666550[18] = 0.0;
|
||||
out_7049792320674666550[19] = 0.0;
|
||||
out_7049792320674666550[20] = 1.0;
|
||||
out_7049792320674666550[21] = 0.0;
|
||||
out_7049792320674666550[22] = 0.0;
|
||||
out_7049792320674666550[23] = 0.0;
|
||||
out_7049792320674666550[24] = 0.0;
|
||||
out_7049792320674666550[25] = 0.0;
|
||||
out_7049792320674666550[26] = 0.0;
|
||||
out_7049792320674666550[27] = 0.0;
|
||||
out_7049792320674666550[28] = 0.0;
|
||||
out_7049792320674666550[29] = 0.0;
|
||||
out_7049792320674666550[30] = 1.0;
|
||||
out_7049792320674666550[31] = 0.0;
|
||||
out_7049792320674666550[32] = 0.0;
|
||||
out_7049792320674666550[33] = 0.0;
|
||||
out_7049792320674666550[34] = 0.0;
|
||||
out_7049792320674666550[35] = 0.0;
|
||||
out_7049792320674666550[36] = 0.0;
|
||||
out_7049792320674666550[37] = 0.0;
|
||||
out_7049792320674666550[38] = 0.0;
|
||||
out_7049792320674666550[39] = 0.0;
|
||||
out_7049792320674666550[40] = 1.0;
|
||||
out_7049792320674666550[41] = 0.0;
|
||||
out_7049792320674666550[42] = 0.0;
|
||||
out_7049792320674666550[43] = 0.0;
|
||||
out_7049792320674666550[44] = 0.0;
|
||||
out_7049792320674666550[45] = 0.0;
|
||||
out_7049792320674666550[46] = 0.0;
|
||||
out_7049792320674666550[47] = 0.0;
|
||||
out_7049792320674666550[48] = 0.0;
|
||||
out_7049792320674666550[49] = 0.0;
|
||||
out_7049792320674666550[50] = 1.0;
|
||||
out_7049792320674666550[51] = 0.0;
|
||||
out_7049792320674666550[52] = 0.0;
|
||||
out_7049792320674666550[53] = 0.0;
|
||||
out_7049792320674666550[54] = 0.0;
|
||||
out_7049792320674666550[55] = 0.0;
|
||||
out_7049792320674666550[56] = 0.0;
|
||||
out_7049792320674666550[57] = 0.0;
|
||||
out_7049792320674666550[58] = 0.0;
|
||||
out_7049792320674666550[59] = 0.0;
|
||||
out_7049792320674666550[60] = 1.0;
|
||||
out_7049792320674666550[61] = 0.0;
|
||||
out_7049792320674666550[62] = 0.0;
|
||||
out_7049792320674666550[63] = 0.0;
|
||||
out_7049792320674666550[64] = 0.0;
|
||||
out_7049792320674666550[65] = 0.0;
|
||||
out_7049792320674666550[66] = 0.0;
|
||||
out_7049792320674666550[67] = 0.0;
|
||||
out_7049792320674666550[68] = 0.0;
|
||||
out_7049792320674666550[69] = 0.0;
|
||||
out_7049792320674666550[70] = 1.0;
|
||||
out_7049792320674666550[71] = 0.0;
|
||||
out_7049792320674666550[72] = 0.0;
|
||||
out_7049792320674666550[73] = 0.0;
|
||||
out_7049792320674666550[74] = 0.0;
|
||||
out_7049792320674666550[75] = 0.0;
|
||||
out_7049792320674666550[76] = 0.0;
|
||||
out_7049792320674666550[77] = 0.0;
|
||||
out_7049792320674666550[78] = 0.0;
|
||||
out_7049792320674666550[79] = 0.0;
|
||||
out_7049792320674666550[80] = 1.0;
|
||||
void H_mod_fun(double *state, double *out_4533074481319696241) {
|
||||
out_4533074481319696241[0] = 1.0;
|
||||
out_4533074481319696241[1] = 0.0;
|
||||
out_4533074481319696241[2] = 0.0;
|
||||
out_4533074481319696241[3] = 0.0;
|
||||
out_4533074481319696241[4] = 0.0;
|
||||
out_4533074481319696241[5] = 0.0;
|
||||
out_4533074481319696241[6] = 0.0;
|
||||
out_4533074481319696241[7] = 0.0;
|
||||
out_4533074481319696241[8] = 0.0;
|
||||
out_4533074481319696241[9] = 0.0;
|
||||
out_4533074481319696241[10] = 1.0;
|
||||
out_4533074481319696241[11] = 0.0;
|
||||
out_4533074481319696241[12] = 0.0;
|
||||
out_4533074481319696241[13] = 0.0;
|
||||
out_4533074481319696241[14] = 0.0;
|
||||
out_4533074481319696241[15] = 0.0;
|
||||
out_4533074481319696241[16] = 0.0;
|
||||
out_4533074481319696241[17] = 0.0;
|
||||
out_4533074481319696241[18] = 0.0;
|
||||
out_4533074481319696241[19] = 0.0;
|
||||
out_4533074481319696241[20] = 1.0;
|
||||
out_4533074481319696241[21] = 0.0;
|
||||
out_4533074481319696241[22] = 0.0;
|
||||
out_4533074481319696241[23] = 0.0;
|
||||
out_4533074481319696241[24] = 0.0;
|
||||
out_4533074481319696241[25] = 0.0;
|
||||
out_4533074481319696241[26] = 0.0;
|
||||
out_4533074481319696241[27] = 0.0;
|
||||
out_4533074481319696241[28] = 0.0;
|
||||
out_4533074481319696241[29] = 0.0;
|
||||
out_4533074481319696241[30] = 1.0;
|
||||
out_4533074481319696241[31] = 0.0;
|
||||
out_4533074481319696241[32] = 0.0;
|
||||
out_4533074481319696241[33] = 0.0;
|
||||
out_4533074481319696241[34] = 0.0;
|
||||
out_4533074481319696241[35] = 0.0;
|
||||
out_4533074481319696241[36] = 0.0;
|
||||
out_4533074481319696241[37] = 0.0;
|
||||
out_4533074481319696241[38] = 0.0;
|
||||
out_4533074481319696241[39] = 0.0;
|
||||
out_4533074481319696241[40] = 1.0;
|
||||
out_4533074481319696241[41] = 0.0;
|
||||
out_4533074481319696241[42] = 0.0;
|
||||
out_4533074481319696241[43] = 0.0;
|
||||
out_4533074481319696241[44] = 0.0;
|
||||
out_4533074481319696241[45] = 0.0;
|
||||
out_4533074481319696241[46] = 0.0;
|
||||
out_4533074481319696241[47] = 0.0;
|
||||
out_4533074481319696241[48] = 0.0;
|
||||
out_4533074481319696241[49] = 0.0;
|
||||
out_4533074481319696241[50] = 1.0;
|
||||
out_4533074481319696241[51] = 0.0;
|
||||
out_4533074481319696241[52] = 0.0;
|
||||
out_4533074481319696241[53] = 0.0;
|
||||
out_4533074481319696241[54] = 0.0;
|
||||
out_4533074481319696241[55] = 0.0;
|
||||
out_4533074481319696241[56] = 0.0;
|
||||
out_4533074481319696241[57] = 0.0;
|
||||
out_4533074481319696241[58] = 0.0;
|
||||
out_4533074481319696241[59] = 0.0;
|
||||
out_4533074481319696241[60] = 1.0;
|
||||
out_4533074481319696241[61] = 0.0;
|
||||
out_4533074481319696241[62] = 0.0;
|
||||
out_4533074481319696241[63] = 0.0;
|
||||
out_4533074481319696241[64] = 0.0;
|
||||
out_4533074481319696241[65] = 0.0;
|
||||
out_4533074481319696241[66] = 0.0;
|
||||
out_4533074481319696241[67] = 0.0;
|
||||
out_4533074481319696241[68] = 0.0;
|
||||
out_4533074481319696241[69] = 0.0;
|
||||
out_4533074481319696241[70] = 1.0;
|
||||
out_4533074481319696241[71] = 0.0;
|
||||
out_4533074481319696241[72] = 0.0;
|
||||
out_4533074481319696241[73] = 0.0;
|
||||
out_4533074481319696241[74] = 0.0;
|
||||
out_4533074481319696241[75] = 0.0;
|
||||
out_4533074481319696241[76] = 0.0;
|
||||
out_4533074481319696241[77] = 0.0;
|
||||
out_4533074481319696241[78] = 0.0;
|
||||
out_4533074481319696241[79] = 0.0;
|
||||
out_4533074481319696241[80] = 1.0;
|
||||
}
|
||||
void f_fun(double *state, double dt, double *out_8058289693715916474) {
|
||||
out_8058289693715916474[0] = state[0];
|
||||
out_8058289693715916474[1] = state[1];
|
||||
out_8058289693715916474[2] = state[2];
|
||||
out_8058289693715916474[3] = state[3];
|
||||
out_8058289693715916474[4] = state[4];
|
||||
out_8058289693715916474[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_8058289693715916474[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_8058289693715916474[7] = state[7];
|
||||
out_8058289693715916474[8] = state[8];
|
||||
void f_fun(double *state, double dt, double *out_5039337670867030572) {
|
||||
out_5039337670867030572[0] = state[0];
|
||||
out_5039337670867030572[1] = state[1];
|
||||
out_5039337670867030572[2] = state[2];
|
||||
out_5039337670867030572[3] = state[3];
|
||||
out_5039337670867030572[4] = state[4];
|
||||
out_5039337670867030572[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
|
||||
out_5039337670867030572[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
|
||||
out_5039337670867030572[7] = state[7];
|
||||
out_5039337670867030572[8] = state[8];
|
||||
}
|
||||
void F_fun(double *state, double dt, double *out_6834456908135559848) {
|
||||
out_6834456908135559848[0] = 1;
|
||||
out_6834456908135559848[1] = 0;
|
||||
out_6834456908135559848[2] = 0;
|
||||
out_6834456908135559848[3] = 0;
|
||||
out_6834456908135559848[4] = 0;
|
||||
out_6834456908135559848[5] = 0;
|
||||
out_6834456908135559848[6] = 0;
|
||||
out_6834456908135559848[7] = 0;
|
||||
out_6834456908135559848[8] = 0;
|
||||
out_6834456908135559848[9] = 0;
|
||||
out_6834456908135559848[10] = 1;
|
||||
out_6834456908135559848[11] = 0;
|
||||
out_6834456908135559848[12] = 0;
|
||||
out_6834456908135559848[13] = 0;
|
||||
out_6834456908135559848[14] = 0;
|
||||
out_6834456908135559848[15] = 0;
|
||||
out_6834456908135559848[16] = 0;
|
||||
out_6834456908135559848[17] = 0;
|
||||
out_6834456908135559848[18] = 0;
|
||||
out_6834456908135559848[19] = 0;
|
||||
out_6834456908135559848[20] = 1;
|
||||
out_6834456908135559848[21] = 0;
|
||||
out_6834456908135559848[22] = 0;
|
||||
out_6834456908135559848[23] = 0;
|
||||
out_6834456908135559848[24] = 0;
|
||||
out_6834456908135559848[25] = 0;
|
||||
out_6834456908135559848[26] = 0;
|
||||
out_6834456908135559848[27] = 0;
|
||||
out_6834456908135559848[28] = 0;
|
||||
out_6834456908135559848[29] = 0;
|
||||
out_6834456908135559848[30] = 1;
|
||||
out_6834456908135559848[31] = 0;
|
||||
out_6834456908135559848[32] = 0;
|
||||
out_6834456908135559848[33] = 0;
|
||||
out_6834456908135559848[34] = 0;
|
||||
out_6834456908135559848[35] = 0;
|
||||
out_6834456908135559848[36] = 0;
|
||||
out_6834456908135559848[37] = 0;
|
||||
out_6834456908135559848[38] = 0;
|
||||
out_6834456908135559848[39] = 0;
|
||||
out_6834456908135559848[40] = 1;
|
||||
out_6834456908135559848[41] = 0;
|
||||
out_6834456908135559848[42] = 0;
|
||||
out_6834456908135559848[43] = 0;
|
||||
out_6834456908135559848[44] = 0;
|
||||
out_6834456908135559848[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_6834456908135559848[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_6834456908135559848[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6834456908135559848[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6834456908135559848[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_6834456908135559848[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_6834456908135559848[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_6834456908135559848[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_6834456908135559848[53] = -9.8100000000000005*dt;
|
||||
out_6834456908135559848[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_6834456908135559848[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_6834456908135559848[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6834456908135559848[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6834456908135559848[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_6834456908135559848[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_6834456908135559848[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_6834456908135559848[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_6834456908135559848[62] = 0;
|
||||
out_6834456908135559848[63] = 0;
|
||||
out_6834456908135559848[64] = 0;
|
||||
out_6834456908135559848[65] = 0;
|
||||
out_6834456908135559848[66] = 0;
|
||||
out_6834456908135559848[67] = 0;
|
||||
out_6834456908135559848[68] = 0;
|
||||
out_6834456908135559848[69] = 0;
|
||||
out_6834456908135559848[70] = 1;
|
||||
out_6834456908135559848[71] = 0;
|
||||
out_6834456908135559848[72] = 0;
|
||||
out_6834456908135559848[73] = 0;
|
||||
out_6834456908135559848[74] = 0;
|
||||
out_6834456908135559848[75] = 0;
|
||||
out_6834456908135559848[76] = 0;
|
||||
out_6834456908135559848[77] = 0;
|
||||
out_6834456908135559848[78] = 0;
|
||||
out_6834456908135559848[79] = 0;
|
||||
out_6834456908135559848[80] = 1;
|
||||
void F_fun(double *state, double dt, double *out_5181832378332727216) {
|
||||
out_5181832378332727216[0] = 1;
|
||||
out_5181832378332727216[1] = 0;
|
||||
out_5181832378332727216[2] = 0;
|
||||
out_5181832378332727216[3] = 0;
|
||||
out_5181832378332727216[4] = 0;
|
||||
out_5181832378332727216[5] = 0;
|
||||
out_5181832378332727216[6] = 0;
|
||||
out_5181832378332727216[7] = 0;
|
||||
out_5181832378332727216[8] = 0;
|
||||
out_5181832378332727216[9] = 0;
|
||||
out_5181832378332727216[10] = 1;
|
||||
out_5181832378332727216[11] = 0;
|
||||
out_5181832378332727216[12] = 0;
|
||||
out_5181832378332727216[13] = 0;
|
||||
out_5181832378332727216[14] = 0;
|
||||
out_5181832378332727216[15] = 0;
|
||||
out_5181832378332727216[16] = 0;
|
||||
out_5181832378332727216[17] = 0;
|
||||
out_5181832378332727216[18] = 0;
|
||||
out_5181832378332727216[19] = 0;
|
||||
out_5181832378332727216[20] = 1;
|
||||
out_5181832378332727216[21] = 0;
|
||||
out_5181832378332727216[22] = 0;
|
||||
out_5181832378332727216[23] = 0;
|
||||
out_5181832378332727216[24] = 0;
|
||||
out_5181832378332727216[25] = 0;
|
||||
out_5181832378332727216[26] = 0;
|
||||
out_5181832378332727216[27] = 0;
|
||||
out_5181832378332727216[28] = 0;
|
||||
out_5181832378332727216[29] = 0;
|
||||
out_5181832378332727216[30] = 1;
|
||||
out_5181832378332727216[31] = 0;
|
||||
out_5181832378332727216[32] = 0;
|
||||
out_5181832378332727216[33] = 0;
|
||||
out_5181832378332727216[34] = 0;
|
||||
out_5181832378332727216[35] = 0;
|
||||
out_5181832378332727216[36] = 0;
|
||||
out_5181832378332727216[37] = 0;
|
||||
out_5181832378332727216[38] = 0;
|
||||
out_5181832378332727216[39] = 0;
|
||||
out_5181832378332727216[40] = 1;
|
||||
out_5181832378332727216[41] = 0;
|
||||
out_5181832378332727216[42] = 0;
|
||||
out_5181832378332727216[43] = 0;
|
||||
out_5181832378332727216[44] = 0;
|
||||
out_5181832378332727216[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
|
||||
out_5181832378332727216[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
|
||||
out_5181832378332727216[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5181832378332727216[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5181832378332727216[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
|
||||
out_5181832378332727216[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
|
||||
out_5181832378332727216[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
|
||||
out_5181832378332727216[52] = dt*stiffness_front*state[0]/(mass*state[1]);
|
||||
out_5181832378332727216[53] = -9.8100000000000005*dt;
|
||||
out_5181832378332727216[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
|
||||
out_5181832378332727216[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
|
||||
out_5181832378332727216[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5181832378332727216[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5181832378332727216[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
|
||||
out_5181832378332727216[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
|
||||
out_5181832378332727216[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
|
||||
out_5181832378332727216[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
|
||||
out_5181832378332727216[62] = 0;
|
||||
out_5181832378332727216[63] = 0;
|
||||
out_5181832378332727216[64] = 0;
|
||||
out_5181832378332727216[65] = 0;
|
||||
out_5181832378332727216[66] = 0;
|
||||
out_5181832378332727216[67] = 0;
|
||||
out_5181832378332727216[68] = 0;
|
||||
out_5181832378332727216[69] = 0;
|
||||
out_5181832378332727216[70] = 1;
|
||||
out_5181832378332727216[71] = 0;
|
||||
out_5181832378332727216[72] = 0;
|
||||
out_5181832378332727216[73] = 0;
|
||||
out_5181832378332727216[74] = 0;
|
||||
out_5181832378332727216[75] = 0;
|
||||
out_5181832378332727216[76] = 0;
|
||||
out_5181832378332727216[77] = 0;
|
||||
out_5181832378332727216[78] = 0;
|
||||
out_5181832378332727216[79] = 0;
|
||||
out_5181832378332727216[80] = 1;
|
||||
}
|
||||
void h_25(double *state, double *unused, double *out_3817993858643920850) {
|
||||
out_3817993858643920850[0] = state[6];
|
||||
void h_25(double *state, double *unused, double *out_9064502358369772671) {
|
||||
out_9064502358369772671[0] = state[6];
|
||||
}
|
||||
void H_25(double *state, double *unused, double *out_2203763527122647829) {
|
||||
out_2203763527122647829[0] = 0;
|
||||
out_2203763527122647829[1] = 0;
|
||||
out_2203763527122647829[2] = 0;
|
||||
out_2203763527122647829[3] = 0;
|
||||
out_2203763527122647829[4] = 0;
|
||||
out_2203763527122647829[5] = 0;
|
||||
out_2203763527122647829[6] = 1;
|
||||
out_2203763527122647829[7] = 0;
|
||||
out_2203763527122647829[8] = 0;
|
||||
void H_25(double *state, double *unused, double *out_9009977767205190535) {
|
||||
out_9009977767205190535[0] = 0;
|
||||
out_9009977767205190535[1] = 0;
|
||||
out_9009977767205190535[2] = 0;
|
||||
out_9009977767205190535[3] = 0;
|
||||
out_9009977767205190535[4] = 0;
|
||||
out_9009977767205190535[5] = 0;
|
||||
out_9009977767205190535[6] = 1;
|
||||
out_9009977767205190535[7] = 0;
|
||||
out_9009977767205190535[8] = 0;
|
||||
}
|
||||
void h_24(double *state, double *unused, double *out_589890583681194954) {
|
||||
out_589890583681194954[0] = state[4];
|
||||
out_589890583681194954[1] = state[5];
|
||||
void h_24(double *state, double *unused, double *out_4315668618686905201) {
|
||||
out_4315668618686905201[0] = state[4];
|
||||
out_4315668618686905201[1] = state[5];
|
||||
}
|
||||
void H_24(double *state, double *unused, double *out_31113928117148263) {
|
||||
out_31113928117148263[0] = 0;
|
||||
out_31113928117148263[1] = 0;
|
||||
out_31113928117148263[2] = 0;
|
||||
out_31113928117148263[3] = 0;
|
||||
out_31113928117148263[4] = 1;
|
||||
out_31113928117148263[5] = 0;
|
||||
out_31113928117148263[6] = 0;
|
||||
out_31113928117148263[7] = 0;
|
||||
out_31113928117148263[8] = 0;
|
||||
out_31113928117148263[9] = 0;
|
||||
out_31113928117148263[10] = 0;
|
||||
out_31113928117148263[11] = 0;
|
||||
out_31113928117148263[12] = 0;
|
||||
out_31113928117148263[13] = 0;
|
||||
out_31113928117148263[14] = 1;
|
||||
out_31113928117148263[15] = 0;
|
||||
out_31113928117148263[16] = 0;
|
||||
out_31113928117148263[17] = 0;
|
||||
void H_24(double *state, double *unused, double *out_4579303311377586733) {
|
||||
out_4579303311377586733[0] = 0;
|
||||
out_4579303311377586733[1] = 0;
|
||||
out_4579303311377586733[2] = 0;
|
||||
out_4579303311377586733[3] = 0;
|
||||
out_4579303311377586733[4] = 1;
|
||||
out_4579303311377586733[5] = 0;
|
||||
out_4579303311377586733[6] = 0;
|
||||
out_4579303311377586733[7] = 0;
|
||||
out_4579303311377586733[8] = 0;
|
||||
out_4579303311377586733[9] = 0;
|
||||
out_4579303311377586733[10] = 0;
|
||||
out_4579303311377586733[11] = 0;
|
||||
out_4579303311377586733[12] = 0;
|
||||
out_4579303311377586733[13] = 0;
|
||||
out_4579303311377586733[14] = 1;
|
||||
out_4579303311377586733[15] = 0;
|
||||
out_4579303311377586733[16] = 0;
|
||||
out_4579303311377586733[17] = 0;
|
||||
}
|
||||
void h_30(double *state, double *unused, double *out_855557586624953167) {
|
||||
out_855557586624953167[0] = state[4];
|
||||
void h_30(double *state, double *unused, double *out_8507922675073509890) {
|
||||
out_8507922675073509890[0] = state[4];
|
||||
}
|
||||
void H_30(double *state, double *unused, double *out_4722096485629896456) {
|
||||
out_4722096485629896456[0] = 0;
|
||||
out_4722096485629896456[1] = 0;
|
||||
out_4722096485629896456[2] = 0;
|
||||
out_4722096485629896456[3] = 0;
|
||||
out_4722096485629896456[4] = 1;
|
||||
out_4722096485629896456[5] = 0;
|
||||
out_4722096485629896456[6] = 0;
|
||||
out_4722096485629896456[7] = 0;
|
||||
out_4722096485629896456[8] = 0;
|
||||
void H_30(double *state, double *unused, double *out_2093287425713573780) {
|
||||
out_2093287425713573780[0] = 0;
|
||||
out_2093287425713573780[1] = 0;
|
||||
out_2093287425713573780[2] = 0;
|
||||
out_2093287425713573780[3] = 0;
|
||||
out_2093287425713573780[4] = 1;
|
||||
out_2093287425713573780[5] = 0;
|
||||
out_2093287425713573780[6] = 0;
|
||||
out_2093287425713573780[7] = 0;
|
||||
out_2093287425713573780[8] = 0;
|
||||
}
|
||||
void h_26(double *state, double *unused, double *out_3459962907433650818) {
|
||||
out_3459962907433650818[0] = state[7];
|
||||
void h_26(double *state, double *unused, double *out_4180836484642303770) {
|
||||
out_4180836484642303770[0] = state[7];
|
||||
}
|
||||
void H_26(double *state, double *unused, double *out_1537739791751408395) {
|
||||
out_1537739791751408395[0] = 0;
|
||||
out_1537739791751408395[1] = 0;
|
||||
out_1537739791751408395[2] = 0;
|
||||
out_1537739791751408395[3] = 0;
|
||||
out_1537739791751408395[4] = 0;
|
||||
out_1537739791751408395[5] = 0;
|
||||
out_1537739791751408395[6] = 0;
|
||||
out_1537739791751408395[7] = 1;
|
||||
out_1537739791751408395[8] = 0;
|
||||
void H_26(double *state, double *unused, double *out_5695262987630304857) {
|
||||
out_5695262987630304857[0] = 0;
|
||||
out_5695262987630304857[1] = 0;
|
||||
out_5695262987630304857[2] = 0;
|
||||
out_5695262987630304857[3] = 0;
|
||||
out_5695262987630304857[4] = 0;
|
||||
out_5695262987630304857[5] = 0;
|
||||
out_5695262987630304857[6] = 0;
|
||||
out_5695262987630304857[7] = 1;
|
||||
out_5695262987630304857[8] = 0;
|
||||
}
|
||||
void h_27(double *state, double *unused, double *out_2284525577089273540) {
|
||||
out_2284525577089273540[0] = state[3];
|
||||
void h_27(double *state, double *unused, double *out_4062829090708927026) {
|
||||
out_4062829090708927026[0] = state[3];
|
||||
}
|
||||
void H_27(double *state, double *unused, double *out_6945690556813839673) {
|
||||
out_6945690556813839673[0] = 0;
|
||||
out_6945690556813839673[1] = 0;
|
||||
out_6945690556813839673[2] = 0;
|
||||
out_6945690556813839673[3] = 1;
|
||||
out_6945690556813839673[4] = 0;
|
||||
out_6945690556813839673[5] = 0;
|
||||
out_6945690556813839673[6] = 0;
|
||||
out_6945690556813839673[7] = 0;
|
||||
out_6945690556813839673[8] = 0;
|
||||
void H_27(double *state, double *unused, double *out_4268050737513998691) {
|
||||
out_4268050737513998691[0] = 0;
|
||||
out_4268050737513998691[1] = 0;
|
||||
out_4268050737513998691[2] = 0;
|
||||
out_4268050737513998691[3] = 1;
|
||||
out_4268050737513998691[4] = 0;
|
||||
out_4268050737513998691[5] = 0;
|
||||
out_4268050737513998691[6] = 0;
|
||||
out_4268050737513998691[7] = 0;
|
||||
out_4268050737513998691[8] = 0;
|
||||
}
|
||||
void h_29(double *state, double *unused, double *out_1458873471301430684) {
|
||||
out_1458873471301430684[0] = state[1];
|
||||
void h_29(double *state, double *unused, double *out_7564412822171847455) {
|
||||
out_7564412822171847455[0] = state[1];
|
||||
}
|
||||
void H_29(double *state, double *unused, double *out_5232327829944288640) {
|
||||
out_5232327829944288640[0] = 0;
|
||||
out_5232327829944288640[1] = 1;
|
||||
out_5232327829944288640[2] = 0;
|
||||
out_5232327829944288640[3] = 0;
|
||||
out_5232327829944288640[4] = 0;
|
||||
out_5232327829944288640[5] = 0;
|
||||
out_5232327829944288640[6] = 0;
|
||||
out_5232327829944288640[7] = 0;
|
||||
out_5232327829944288640[8] = 0;
|
||||
void H_29(double *state, double *unused, double *out_5981413464383549724) {
|
||||
out_5981413464383549724[0] = 0;
|
||||
out_5981413464383549724[1] = 1;
|
||||
out_5981413464383549724[2] = 0;
|
||||
out_5981413464383549724[3] = 0;
|
||||
out_5981413464383549724[4] = 0;
|
||||
out_5981413464383549724[5] = 0;
|
||||
out_5981413464383549724[6] = 0;
|
||||
out_5981413464383549724[7] = 0;
|
||||
out_5981413464383549724[8] = 0;
|
||||
}
|
||||
void h_28(double *state, double *unused, double *out_7286198844750119185) {
|
||||
out_7286198844750119185[0] = state[0];
|
||||
void h_28(double *state, double *unused, double *out_1579900780372029809) {
|
||||
out_1579900780372029809[0] = state[0];
|
||||
}
|
||||
void H_28(double *state, double *unused, double *out_149928812874758066) {
|
||||
out_149928812874758066[0] = 1;
|
||||
out_149928812874758066[1] = 0;
|
||||
out_149928812874758066[2] = 0;
|
||||
out_149928812874758066[3] = 0;
|
||||
out_149928812874758066[4] = 0;
|
||||
out_149928812874758066[5] = 0;
|
||||
out_149928812874758066[6] = 0;
|
||||
out_149928812874758066[7] = 0;
|
||||
out_149928812874758066[8] = 0;
|
||||
void H_28(double *state, double *unused, double *out_7382931592256471318) {
|
||||
out_7382931592256471318[0] = 1;
|
||||
out_7382931592256471318[1] = 0;
|
||||
out_7382931592256471318[2] = 0;
|
||||
out_7382931592256471318[3] = 0;
|
||||
out_7382931592256471318[4] = 0;
|
||||
out_7382931592256471318[5] = 0;
|
||||
out_7382931592256471318[6] = 0;
|
||||
out_7382931592256471318[7] = 0;
|
||||
out_7382931592256471318[8] = 0;
|
||||
}
|
||||
void h_31(double *state, double *unused, double *out_9220241001058989162) {
|
||||
out_9220241001058989162[0] = state[8];
|
||||
void h_31(double *state, double *unused, double *out_6613551970606485049) {
|
||||
out_6613551970606485049[0] = state[8];
|
||||
}
|
||||
void H_31(double *state, double *unused, double *out_2163947893984759871) {
|
||||
out_2163947893984759871[0] = 0;
|
||||
out_2163947893984759871[1] = 0;
|
||||
out_2163947893984759871[2] = 0;
|
||||
out_2163947893984759871[3] = 0;
|
||||
out_2163947893984759871[4] = 0;
|
||||
out_2163947893984759871[5] = 0;
|
||||
out_2163947893984759871[6] = 0;
|
||||
out_2163947893984759871[7] = 0;
|
||||
out_2163947893984759871[8] = 1;
|
||||
void H_31(double *state, double *unused, double *out_8979331805328230107) {
|
||||
out_8979331805328230107[0] = 0;
|
||||
out_8979331805328230107[1] = 0;
|
||||
out_8979331805328230107[2] = 0;
|
||||
out_8979331805328230107[3] = 0;
|
||||
out_8979331805328230107[4] = 0;
|
||||
out_8979331805328230107[5] = 0;
|
||||
out_8979331805328230107[6] = 0;
|
||||
out_8979331805328230107[7] = 0;
|
||||
out_8979331805328230107[8] = 1;
|
||||
}
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include <iostream>
|
||||
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
|
||||
update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
|
||||
}
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5328892797193692082) {
|
||||
err_fun(nom_x, delta_x, out_5328892797193692082);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_555027713999943867) {
|
||||
err_fun(nom_x, delta_x, out_555027713999943867);
|
||||
}
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) {
|
||||
inv_err_fun(nom_x, true_x, out_6664197118630309465);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) {
|
||||
inv_err_fun(nom_x, true_x, out_7816877518147233589);
|
||||
}
|
||||
void car_H_mod_fun(double *state, double *out_7049792320674666550) {
|
||||
H_mod_fun(state, out_7049792320674666550);
|
||||
void car_H_mod_fun(double *state, double *out_4533074481319696241) {
|
||||
H_mod_fun(state, out_4533074481319696241);
|
||||
}
|
||||
void car_f_fun(double *state, double dt, double *out_8058289693715916474) {
|
||||
f_fun(state, dt, out_8058289693715916474);
|
||||
void car_f_fun(double *state, double dt, double *out_5039337670867030572) {
|
||||
f_fun(state, dt, out_5039337670867030572);
|
||||
}
|
||||
void car_F_fun(double *state, double dt, double *out_6834456908135559848) {
|
||||
F_fun(state, dt, out_6834456908135559848);
|
||||
void car_F_fun(double *state, double dt, double *out_5181832378332727216) {
|
||||
F_fun(state, dt, out_5181832378332727216);
|
||||
}
|
||||
void car_h_25(double *state, double *unused, double *out_3817993858643920850) {
|
||||
h_25(state, unused, out_3817993858643920850);
|
||||
void car_h_25(double *state, double *unused, double *out_9064502358369772671) {
|
||||
h_25(state, unused, out_9064502358369772671);
|
||||
}
|
||||
void car_H_25(double *state, double *unused, double *out_2203763527122647829) {
|
||||
H_25(state, unused, out_2203763527122647829);
|
||||
void car_H_25(double *state, double *unused, double *out_9009977767205190535) {
|
||||
H_25(state, unused, out_9009977767205190535);
|
||||
}
|
||||
void car_h_24(double *state, double *unused, double *out_589890583681194954) {
|
||||
h_24(state, unused, out_589890583681194954);
|
||||
void car_h_24(double *state, double *unused, double *out_4315668618686905201) {
|
||||
h_24(state, unused, out_4315668618686905201);
|
||||
}
|
||||
void car_H_24(double *state, double *unused, double *out_31113928117148263) {
|
||||
H_24(state, unused, out_31113928117148263);
|
||||
void car_H_24(double *state, double *unused, double *out_4579303311377586733) {
|
||||
H_24(state, unused, out_4579303311377586733);
|
||||
}
|
||||
void car_h_30(double *state, double *unused, double *out_855557586624953167) {
|
||||
h_30(state, unused, out_855557586624953167);
|
||||
void car_h_30(double *state, double *unused, double *out_8507922675073509890) {
|
||||
h_30(state, unused, out_8507922675073509890);
|
||||
}
|
||||
void car_H_30(double *state, double *unused, double *out_4722096485629896456) {
|
||||
H_30(state, unused, out_4722096485629896456);
|
||||
void car_H_30(double *state, double *unused, double *out_2093287425713573780) {
|
||||
H_30(state, unused, out_2093287425713573780);
|
||||
}
|
||||
void car_h_26(double *state, double *unused, double *out_3459962907433650818) {
|
||||
h_26(state, unused, out_3459962907433650818);
|
||||
void car_h_26(double *state, double *unused, double *out_4180836484642303770) {
|
||||
h_26(state, unused, out_4180836484642303770);
|
||||
}
|
||||
void car_H_26(double *state, double *unused, double *out_1537739791751408395) {
|
||||
H_26(state, unused, out_1537739791751408395);
|
||||
void car_H_26(double *state, double *unused, double *out_5695262987630304857) {
|
||||
H_26(state, unused, out_5695262987630304857);
|
||||
}
|
||||
void car_h_27(double *state, double *unused, double *out_2284525577089273540) {
|
||||
h_27(state, unused, out_2284525577089273540);
|
||||
void car_h_27(double *state, double *unused, double *out_4062829090708927026) {
|
||||
h_27(state, unused, out_4062829090708927026);
|
||||
}
|
||||
void car_H_27(double *state, double *unused, double *out_6945690556813839673) {
|
||||
H_27(state, unused, out_6945690556813839673);
|
||||
void car_H_27(double *state, double *unused, double *out_4268050737513998691) {
|
||||
H_27(state, unused, out_4268050737513998691);
|
||||
}
|
||||
void car_h_29(double *state, double *unused, double *out_1458873471301430684) {
|
||||
h_29(state, unused, out_1458873471301430684);
|
||||
void car_h_29(double *state, double *unused, double *out_7564412822171847455) {
|
||||
h_29(state, unused, out_7564412822171847455);
|
||||
}
|
||||
void car_H_29(double *state, double *unused, double *out_5232327829944288640) {
|
||||
H_29(state, unused, out_5232327829944288640);
|
||||
void car_H_29(double *state, double *unused, double *out_5981413464383549724) {
|
||||
H_29(state, unused, out_5981413464383549724);
|
||||
}
|
||||
void car_h_28(double *state, double *unused, double *out_7286198844750119185) {
|
||||
h_28(state, unused, out_7286198844750119185);
|
||||
void car_h_28(double *state, double *unused, double *out_1579900780372029809) {
|
||||
h_28(state, unused, out_1579900780372029809);
|
||||
}
|
||||
void car_H_28(double *state, double *unused, double *out_149928812874758066) {
|
||||
H_28(state, unused, out_149928812874758066);
|
||||
void car_H_28(double *state, double *unused, double *out_7382931592256471318) {
|
||||
H_28(state, unused, out_7382931592256471318);
|
||||
}
|
||||
void car_h_31(double *state, double *unused, double *out_9220241001058989162) {
|
||||
h_31(state, unused, out_9220241001058989162);
|
||||
void car_h_31(double *state, double *unused, double *out_6613551970606485049) {
|
||||
h_31(state, unused, out_6613551970606485049);
|
||||
}
|
||||
void car_H_31(double *state, double *unused, double *out_2163947893984759871) {
|
||||
H_31(state, unused, out_2163947893984759871);
|
||||
void car_H_31(double *state, double *unused, double *out_8979331805328230107) {
|
||||
H_31(state, unused, out_8979331805328230107);
|
||||
}
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
|
||||
predict(in_x, in_P, in_Q, dt);
|
||||
|
||||
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_5328892797193692082);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465);
|
||||
void car_H_mod_fun(double *state, double *out_7049792320674666550);
|
||||
void car_f_fun(double *state, double dt, double *out_8058289693715916474);
|
||||
void car_F_fun(double *state, double dt, double *out_6834456908135559848);
|
||||
void car_h_25(double *state, double *unused, double *out_3817993858643920850);
|
||||
void car_H_25(double *state, double *unused, double *out_2203763527122647829);
|
||||
void car_h_24(double *state, double *unused, double *out_589890583681194954);
|
||||
void car_H_24(double *state, double *unused, double *out_31113928117148263);
|
||||
void car_h_30(double *state, double *unused, double *out_855557586624953167);
|
||||
void car_H_30(double *state, double *unused, double *out_4722096485629896456);
|
||||
void car_h_26(double *state, double *unused, double *out_3459962907433650818);
|
||||
void car_H_26(double *state, double *unused, double *out_1537739791751408395);
|
||||
void car_h_27(double *state, double *unused, double *out_2284525577089273540);
|
||||
void car_H_27(double *state, double *unused, double *out_6945690556813839673);
|
||||
void car_h_29(double *state, double *unused, double *out_1458873471301430684);
|
||||
void car_H_29(double *state, double *unused, double *out_5232327829944288640);
|
||||
void car_h_28(double *state, double *unused, double *out_7286198844750119185);
|
||||
void car_H_28(double *state, double *unused, double *out_149928812874758066);
|
||||
void car_h_31(double *state, double *unused, double *out_9220241001058989162);
|
||||
void car_H_31(double *state, double *unused, double *out_2163947893984759871);
|
||||
void car_err_fun(double *nom_x, double *delta_x, double *out_555027713999943867);
|
||||
void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589);
|
||||
void car_H_mod_fun(double *state, double *out_4533074481319696241);
|
||||
void car_f_fun(double *state, double dt, double *out_5039337670867030572);
|
||||
void car_F_fun(double *state, double dt, double *out_5181832378332727216);
|
||||
void car_h_25(double *state, double *unused, double *out_9064502358369772671);
|
||||
void car_H_25(double *state, double *unused, double *out_9009977767205190535);
|
||||
void car_h_24(double *state, double *unused, double *out_4315668618686905201);
|
||||
void car_H_24(double *state, double *unused, double *out_4579303311377586733);
|
||||
void car_h_30(double *state, double *unused, double *out_8507922675073509890);
|
||||
void car_H_30(double *state, double *unused, double *out_2093287425713573780);
|
||||
void car_h_26(double *state, double *unused, double *out_4180836484642303770);
|
||||
void car_H_26(double *state, double *unused, double *out_5695262987630304857);
|
||||
void car_h_27(double *state, double *unused, double *out_4062829090708927026);
|
||||
void car_H_27(double *state, double *unused, double *out_4268050737513998691);
|
||||
void car_h_29(double *state, double *unused, double *out_7564412822171847455);
|
||||
void car_H_29(double *state, double *unused, double *out_5981413464383549724);
|
||||
void car_h_28(double *state, double *unused, double *out_1579900780372029809);
|
||||
void car_H_28(double *state, double *unused, double *out_7382931592256471318);
|
||||
void car_h_31(double *state, double *unused, double *out_6613551970606485049);
|
||||
void car_H_31(double *state, double *unused, double *out_8979331805328230107);
|
||||
void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
void car_set_mass(double x);
|
||||
void car_set_rotational_inertia(double x);
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
|
||||
void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_8334628911363265031);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963);
|
||||
void pose_H_mod_fun(double *state, double *out_2207458853057691014);
|
||||
void pose_f_fun(double *state, double dt, double *out_7635303320387631810);
|
||||
void pose_F_fun(double *state, double dt, double *out_8324840199262111301);
|
||||
void pose_h_4(double *state, double *unused, double *out_2118179578320955915);
|
||||
void pose_H_4(double *state, double *unused, double *out_7359977238096771749);
|
||||
void pose_h_10(double *state, double *unused, double *out_863109591849531819);
|
||||
void pose_H_10(double *state, double *unused, double *out_6053481103905099724);
|
||||
void pose_h_13(double *state, double *unused, double *out_8506504787708500859);
|
||||
void pose_H_13(double *state, double *unused, double *out_7874493010280447066);
|
||||
void pose_h_14(double *state, double *unused, double *out_6030639671543279411);
|
||||
void pose_H_14(double *state, double *unused, double *out_7123525979273295338);
|
||||
void pose_err_fun(double *nom_x, double *delta_x, double *out_7828077856483360191);
|
||||
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_978622641958652250);
|
||||
void pose_H_mod_fun(double *state, double *out_7441553898687288237);
|
||||
void pose_f_fun(double *state, double dt, double *out_8648120814934185415);
|
||||
void pose_F_fun(double *state, double dt, double *out_5073381682457521558);
|
||||
void pose_h_4(double *state, double *unused, double *out_2401275546657747080);
|
||||
void pose_H_4(double *state, double *unused, double *out_1593472091935329516);
|
||||
void pose_h_10(double *state, double *unused, double *out_7020895229304053766);
|
||||
void pose_H_10(double *state, double *unused, double *out_299233475658510513);
|
||||
void pose_h_13(double *state, double *unused, double *out_2810480351238834931);
|
||||
void pose_H_13(double *state, double *unused, double *out_4805745917267662317);
|
||||
void pose_h_14(double *state, double *unused, double *out_6318162405249945056);
|
||||
void pose_H_14(double *state, double *unused, double *out_5556712948274814045);
|
||||
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user