Comma AI / OpenPilot Autopilot Progress on R1!

[gerrylum]

What's MADS? Who's Lukas? Is his father Red Panda?

LOL. Maybe in the eventual movie it can be written that way. Lukas is the developer that did the work to port Openpilot for Rivian, as well as designed the wiring harness to make it all work. The Red Panda (and other Panda variants) are what allow the Comma 3X to communicate with the car.

As for MADS, here's a video that explains it. But basically, MADS allows hands-free steering control with manual throttle control:

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[strykerwsu]

So a one-time $1100 and a few taps on the keyboard gets me what Rivian promised Gen1 owners?

For most part. Im enjoying it in first week. Just dont think it is FSD. It is hands free but I would wait for final version with longitudinal control to be all buttoned up. My use case is for highway driving not premapped by Rivian for both R1s. With 2 harnesses and magnet adapters I'm about $650 per vehicle so worth it for me.

 

[Riviot]

LOL. Maybe in the eventual movie it can be written that way. Lukas is the developer that did the work to port Openpilot for Rivian, as well as designed the wiring harness to make it all work. The Red Panda (and other Panda variants) are what allow the Comma 3X to communicate with the car.

As for MADS, here's a video that explains it. But basically, MADS allows hands-free steering control with manual throttle control:

Is the $100 adapter/harness for Rivian from comma the only plug you need?

So let me get this straight:
1. Buy comma
2. Buy adapter
3. Software install Lukas or MADS or Sunny (a challenger has entered)
4. Hardware install 1&2
5. ???
6. Profit

 

[gerrylum]

Is the $100 adapter/harness for Rivian from comma the only plug you need?

So let me get this straight:
1. Buy comma
2. Buy adapter
3. Software install Lukas or MADS or Sunny (a challenger has entered)
4. Hardware install 1&2
5. ???
6. Profit

Pretty much, though just to nitpick #3, the software options would be vanilla (or stock) Openpilot, Sunnypilot (MADS is a feature of Sunnypilot), or Lukas' fork of Sunnypilot which adds Openpilot Longitudinal support for Rivians with on-screen set-speed buttons instead of using the steering wheel buttons.

 

[ScoobieSteve]

Pretty much, though just to nitpick #3, the software options would be vanilla (or stock) Openpilot, Sunnypilot (MADS is a feature of Sunnypilot), or Lukas' fork of Sunnypilot which adds Openpilot Longitudinal support for Rivians with on-screen set-speed buttons instead of using the steering wheel buttons.

Thanks for all of you kind guidance and wonderful videos here. I would be lost without it. I ordered the magnetic mount, but can you confirm that if I want horizontal control, I should mount with the Comma3 mount that comes with it and not go magnetic? I unfortunately have a chun mount on the way, but I have no issue using a stationary mount if this is what works best.

 

[brancky3]

Thanks for all of you kind guidance and wonderful videos here. I would be lost without it. I ordered the magnetic mount, but can you confirm that if I want horizontal control, I should mount with the Comma3 mount that comes with it and not go magnetic? I unfortunately have a chun mount on the way, but I have no issue using a stationary mount if this is what works best.

The mount has nothing to do with control. +1 for Lukas' fork of sunnypilot! I'm at 970 miles of use in 22 hours since I installed it 10 days ago.

 

[DayTripping]

There were 2 things that would be the most likely to sell my Rivian; how shitty G1 Driver+ is and the damn wind noise.

This takes care of G1 D+ and more. I'd argue with MADS it is more useful than G2 ADAS and there is no subscription needed. It is good now, the longitudinal control (i.e. speed) is good enough and has some things I really like about it without using the control buttons on the wheel which can be added on later.

The really nice aspect of Comma is cooperative steering. This is an amazing approach. It doesn't stop the steering or if you need to correct it like Tesla AP/FSD does or Rivian's D+ or ADAS does. It just takes over when you let go. This is an option to set. I basically just run it all the time with MADS and let the truck do most of the driving and engage the cruise when I need it. Absolute game changer once you get used to it.

Wind noise is still a work in progress, but I've also had significant success. Another try to Rivian to reset my applique in front of the pano roof should finish it off (I hope).

 

[gerrylum]

Thanks for all of you kind guidance and wonderful videos here. I would be lost without it. I ordered the magnetic mount, but can you confirm that if I want horizontal control, I should mount with the Comma3 mount that comes with it and not go magnetic? I unfortunately have a chun mount on the way, but I have no issue using a stationary mount if this is what works best.

I use the Chun mount no problem. Go ahead and install it. As brancky said above, the mount doesn't affect control at all - it just makes it more convenient to take on and off the windshield.

 

[ScoobieSteve]

I use the Chun mount no problem. Go ahead and install it. As brancky said above, the mount doesn't affect control at all - it just makes it more convenient to take on and off the windshield.

Perfect! thanks so much. I misunderstood that for the horizontal control, we would need to utilize a second USB port which may not work with the mount. Is the horizontal control a different box or accessory?

 

[Ecupip]

LOL. Maybe in the eventual movie it can be written that way. Lukas is the developer that did the work to port Openpilot for Rivian, as well as designed the wiring harness to make it all work. The Red Panda (and other Panda variants) are what allow the Comma 3X to communicate with the car.

As for MADS, here's a video that explains it. But basically, MADS allows hands-free steering control with manual throttle control:

Another significant benefit of MDAS is less brake wear too. When OP is engaged, it uses the pads to slow and brake the R1, not regen braking. I confirmed this by watching the brake pedal move every time OP lets off the throttle.

 

[gerrylum]

Perfect! thanks so much. I misunderstood that for the horizontal control, we would need to utilize a second USB port which may not work with the mount. Is the horizontal control a different box or accessory?

Yes, we would need to utilize the secondary USB port on the Comma for the additional signals for steering wheel button controls and blind spot monitoring, but you can still use the Chun mount. I just have an additional magnetic connector on the secondary port so it's still easy to take on and off. I'll take a photo of my setup so you can see.

 

[gerrylum]

I have the cable hanging down to the footwell for testing, but eventually I'll route it up through the A-pillar like the other one.

 

[JM.]

Also keep in mind that the rear view mirror trim that houses the Rivian's mobileye windshield camera is slightly off center towards the right.

Yup, this has led to my Comma trying to be slightly left of center of the lane. I'm remounting this week with the magnetic mount and going to measure it from the edges.

Thanks for the info. Bad news on needing a 2nd usb C as I assume that makes the magnetic mounts ( I have the beartech) effectively useless as it only makes connection to one USB port.

There are magnetic USB-C cables to minimize the pain. A couple of us are talking about this on the Discord and consdering a 3D printed mount for a USB magnetic plug. Janka is in there talking about a potential change too. Overall, the worst we will have to do is have a magnetic USB-C that is separate, but still quick.

 

[ScoobieSteve]

I have the cable hanging down to the footwell for testing, but eventually I'll route it up through the A-pillar like the other one.

Thanks! this helps gain perspective! I will hope to route both cables at the same time on install. I like the idea of a magnetic USB-C for the 2nd cable. I appreciate you sending this!

 

[Tatnai]

Yup, this has led to my Comma trying to be slightly left of center of the lane. I'm remounting this week with the magnetic mount and going to measure it from the edges.

Careful this may be intended behavior. Open pilot biases towards the side of the lane that is safest - divided highway left lane, it'll bias you left. Right lane, it'll bias you right. Remounting may not be necessary.

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