Gen 1 R1 + Comma 4 The Ultimate Value Play.

[rhumbliner]

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[Crudestmass]

Last weekend i received and installed my comma four (4) with the Lukas longitudinal harness and the upgraded harness with the fuse tap in my Gen 1 R1S, and I wanted to share my results because the difference is night and day.

The Performance: Better than Gen 1

I get it, that's a low bar to pass ... All us Gen 1 owners know, the ADAS system and driver plus might be the worst system in the car industry. No lane centering / lane keep or cooperative steering on non-mapped roads. while better than before, multiple disengagement in driver+ on mapped road. Fully hands on, Coming from a Mach-E bluecruise and co-pilot 360 worked better than gen 1 rivan offered, heck my wife's 2022 Subaru outback also does.

* Smoothness: With the Lukas harness, the comma 4 takes over the gas and brakes (longitudinal control). It handles stop-and-go traffic better than stock ACC. And with using MADS, i can control the pedals myself and let the car handle the wheel, for the most part on any road.

* Integration: I'm Using sunnypilot, I’ve got full steering wheel button integration. I can adjust speed and following distance with the scroll wheels just like factory, but with way more confidence in the system's vision. My dash (ICP) remains on the maps view now, not "autonomy" screen.

* Awareness: With the upgraded harnesses, It actually taps into the factory radar, giving the comma 4 access to blind spot monitoring for auto lane changes.

The Install: Sucked

I’ll be honest: I lost my cool more than a few times during the install. That one connector at the AXM module in the passenger footwell is a total nightmare to reach. especially if you have human male size hands.

However, That's the only hard part once you connect to the AXM, the rest of the install....routing the cables and setting up , etc....is a breeze.

I would highly recommend, while even though it adds cost ....The upgraded harness with the fuse tap is a must-have; it keeps the power stable and and from what i read it avoids the "Communication Errors" some people get from pulling purely off the AXM.

Gen 1 vs. Gen 2

I can't speak to Gen 2 directly because I haven't driven one since UHF was released but...... I spent $1,600 total for the comma four and all the Lukas hardware + a few hours of my day.

If you buy a new Gen 2 Rivian ($80K-$140K) , you're looking at a $2,500 buy-in (or $50/month) for "Autonomy+" just to get features that this setup matches or in many cases beats. The gen 2 and future Gen 3 will pass what comma can do at some point, but to extend the life and your enjoyment of your Gen 1..this is the way to go.

Or if you really want a rivian ...... picking up a used Gen 1, where someone else already ate the depreciation and adding a Comma 4, you're getting an amazing value and better driving experience for a fraction of the cost. The best part No subscriptions, unless you want one for uploading videos and such. A used Gen 1 + Comma would still be less than new R2, and available now.

I'll be driving from Southern NH to the ski areas up north later this week, which most is unmapped roads, and I'm excited to see how this does (assuming the roads are clear, otherwise don't use any autonomy)

I just ordered the Comma 4, and the Lucas Longitudinal upgrade kit and fuse tap. I did not order the Lucas harness. I was under the impression that the stock Comma 4 harness would work, after modifying the 12v power leads. Do I need to order the Lucas specific harness?

 

[gerrylum]

I just ordered the Comma 4, and the Lucas Longitudinal upgrade kit and fuse tap. I did not order the Lucas harness. I was under the impression that the stock Comma 4 harness would work, after modifying the 12v power leads. Do I need to order the Lucas specific harness?

No you don't, but make sure the upgrade kit you ordered was for the Comma harness.

 

[Crudestmass]

No you don't, but make sure the upgrade kit you ordered was for the Comma harness.

Thanks. Yes, the upgrade kit I ordered was for the Comma harness.

 

[narmstrong79]

I just ordered the Comma 4, and the Lucas Longitudinal upgrade kit and fuse tap. I did not order the Lucas harness. I was under the impression that the stock Comma 4 harness would work, after modifying the 12v power leads. Do I need to order the Lucas specific harness?

The Comma harness should be fine. I believe you can get a fuse tap from @gerrylum

 

[timgradywy]

I'm running a Comma 4 on Sunnypilot Dev. Using the Rivian longitudinal control and Comma lateral control. This seems to be the best of both worlds. I'm happy with the stock longitudinal, the display behind the steering wheel for the factory controls, and the improved steering/centering/usability of the Comma 4. Mine is installed with the free Comma harness and the OBD2 power supply that came with it. Install wasn't much worse than my EVPlay.

 

[Singletracker]

Expecting my Comma 4 by late next week. So, here’s a question. So, I get the Rivian harness removed from the AXM okay, but have trouble getting the Comma harness installed into the AXM, in a timely manner. At this point, is the car inoperable? I’m assuming so, but maybe not. Yeah, I know. What’s with the negative waves, right 🫤 Just trying to gather all the knowledge I can before diving into the unknown.

 

[godfodder0901]

Expecting my Comma 4 by late next week. So, here’s a question. So, I get the Rivian harness removed from the AXM okay, but have trouble getting the Comma harness installed into the AXM, in a timely manner. At this point, is the car inoperable? I’m assuming so, but maybe not. Yeah, I know. What’s with the negative waves, right 🫤 Just trying to gather all the knowledge I can before diving into the unknown.

There's no time limit for having the AXM disconnected, so you aren't reaching the clock. But, yeah, errors will be thrown if you try to drive with it disconnected. When mine failed years ago, all of the screens were blank, and a bunch of other features didn't work.

 

[gerrylum]

Expecting my Comma 4 by late next week. So, here’s a question. So, I get the Rivian harness removed from the AXM okay, but have trouble getting the Comma harness installed into the AXM, in a timely manner. At this point, is the car inoperable? I’m assuming so, but maybe not. Yeah, I know. What’s with the negative waves, right 🫤 Just trying to gather all the knowledge I can before diving into the unknown.

It's not inoperable, you just won't have any driver assistance features, and there will be errors on the dash. But it's definitely still driveable.

 

[Singletracker]

It's not inoperable, you just won't have any driver assistance features, and there will be errors on the dash. But it's definitely still driveable.

Thanks. I knew that it wasn’t going to be pretty because of error codes. But, it is good to know that, if need be, it could be driven.

 

[SwampNut]

Have you read the Google install doc, and the part about having the car asleep while you do it? I can tell you from experience that you could be in for a lot of fuckery if you wake the car, and I sure as hell would not try to drive it. If the car does decide to flip out, it's technically driveable, but not good at all. No regen, weird braking, limited acceleration, etc. I've had this happen three times.

Here's a video I made on my 27th re-installation of the harness (ok, well, fourth, but it felt like more).

 

[narmstrong79]

Drove from Southern NH to North Conway ski area. About 100 miles each way, 2 hours each way.. on roads that would mostly not be mapped for driver+. This unit handled it amazingly. Was basically hands free for the majority of these drive. Drove up in the afternoon, drove home in the night.

 

[CosmicRivian]

I’m just curious if any of you have ever used a Comma 4 with a mirror-tapped radar detector. It seems like they could go side-by-side under the mirror, but I don’t really have a sense of how much space that would take up.

If anyone has that set up and could snap a picture or two, that would be super swell & appreciated.

 

[timgradywy]

I’m using mine with a radar detector. It probably blocks some coverage and ma limit a bit of range since my radar detector is mounted to the rear view mirror stalk. With that said, the detector is still working. I can post a picture tomorrow.

 

[DevonD]

I’m wanting to jump on board but am finding the different harnesses confusing. If comma works with the harness they supply, what is the point, or advantage, of Luka’s Xnor harness? I understand the longitudinal upgrade is a separate component.

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