# StarPilot

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**StarPilot** is a custom fork of [comma.ai's openpilot](https://comma.ai/openpilot),
an open source driver assistance system.


Openpilot provides
* Automated Lane Centering
* Adaptive Cruise Control
* Lane Change Assist
* Driver Monitoring *without wheel nags*

StarPilot was formerly a GM targeted fork,
but [has expanded to offer Quality-Of-Life improvements for all](#features)!

StarPilot is built off of [FrogPilot](https://github.com/FrogAi/FrogPilot)
and supports the major features FrogPilot offers.

Ford-specific lateral-control and vehicle-support work includes substantial adaptations from
[BluePilot](https://github.com/BluePilotDev/bluepilot/tree/bp-7.0), principally developed by
[Alan Polk](https://github.com/alan-polk) with additional BluePilot contributors. StarPilot's
implementation has since diverged, but that does not erase its lineage. See [CREDITS.md](CREDITS.md)
for the code-level provenance and [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md) for applicable
upstream notices and terms. BluePilot and its contributors do not maintain or endorse StarPilot;
please direct support requests for this adaptation to the StarPilot project.

Hyundai, Kia, and Genesis angle steering and related vehicle support include substantial adaptations
from [sunnypilot](https://github.com/sunnypilot/sunnypilot/tree/hkg-angle-steering-2025) and its
[opendbc angle-steering branch](https://github.com/sunnypilot/opendbc/tree/hkg-angle-steering-2025).
StarPilot's implementation has diverged significantly; the upstream contributors do not maintain
this adaptation. Detailed code lineage is recorded in [CREDITS.md](CREDITS.md#hyundai-kia-and-genesis-support-adapted-from-sunnypilot).

StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
Stop by to chat or ask questions!

## Documentation

Please see [https://wiki.firestar.link](https://wiki.firestar.link) for hardware lists,
installation guides, and software configuration.

## Features

* Full support for Comma C3, C3X, and C4
* Model switcher with all of comma's tinygrad driving models
* Special longitudinal planner tuning for VoACC (visual only, radar-less) vehicles
* Custom-tuned torque controllers for an expanding list of cars.
* Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere.
Download models, change settings, update software, visualize live model outputs for tuning.
* Always On Lateral (full time steering assist)*
* Speed Limit Controller*
* Learning Curve Speed Controller*
* Conditional Experimental Mode (CEM)*
* Driving Profiles*
* Custom themes*
* Alert Volume Controller*
* Comma Pedal Interceptor support*
* Toyota SDSU support*
* ZSS support*
* High quality dashcam recordings*
* Enhanced tuning for CEM (dynamic experimental mode switching)
* And more!

\* [Inherited from FrogPilot](https://github.com/FrogAi/FrogPilot#openpilot-vs-frogpilot)

## GM-only Features

* Increased LKAS fault resiliency
* ASCM_INT and SASCM support
* Custom lateral torque controller, with special tuning for Bolts
* 50% extra torque on 2017 Chevy Bolt
* Improved lateral and longitudinal tuning
* Dashboard cruise control display speed spoofing for vehicles with pedal interceptor
* Extra steering wheel button functionality for vehicles with pedal interceptor
* Optional toggle to boot comma when remote starting your vehicle

## Developer Features

* Native and cross compilation for Windows, Mac, and Ubuntu
* Custom AGNOS to support C3, C3X, and C4
* To run UI on PC:
  * `./c3` for large UI
  * `./c4` for small UI
* `./build` to produce cross compiled binaries for comma devices.
Uses your comma's sysroot/toolchain
* Toggle: "Use Precompiled Binaries" to allow switching between fast boot / editable builds
* Custom long maneuver tests, specifically designed for regen-only vehicles

## Third-Party Notices

* Portions of this software include modified versions of the Material Design Icons provided by Google under the Apache License 2.0. A copy of the license is included in the `LICENSE-MDI` file.
* Ford support includes software adapted from BluePilot's `bp-7.0` branch. The source repository contains both a standard MIT notice and a separate custom SUNNYPILOT LLC notice; StarPilot preserves both in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
* Hyundai, Kia, and Genesis support includes software adapted directly from sunnypilot's HKG angle-steering branch and sunnypilot/opendbc. StarPilot preserves the applicable notices in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).

> This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.