StarPilot

StarPilot is a custom fork of comma.ai's 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!

StarPilot is built off of FrogPilot and supports the major features FrogPilot offers.

Ford-specific lateral-control and vehicle-support work includes substantial adaptations from BluePilot, principally developed by Alan Polk with additional BluePilot contributors. StarPilot's implementation has since diverged, but that does not erase its lineage. See CREDITS.md for the code-level provenance and 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 and its opendbc angle-steering branch. StarPilot's implementation has diverged significantly; the upstream contributors do not maintain this adaptation. Detailed code lineage is recorded in CREDITS.md.

StarPilot has a vibrant, welcoming community discord. Stop by to chat or ask questions!

Documentation

Please see 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

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.
• 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.

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