Angle-based steering now working on Comma for Gen 1 Rivians!

[narmstrong79]

Lukas ships from the US now so tarrifs shouldn't be an issue. And we're testing cooperative steering solutions now but no guarantee yet we can get it working. Lukas is trying, though!

This will require an entirely new wiring harness that needs to replace what's plugged into the AXM.

accessory suggestion - AXM connector extender. It would be great if we could plug something into that AXM port and run the it to easier to access point to either easily reconnect the OEM cable or, for examples like this, when upgraded hardware is introduced.

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[narmstrong79]

I did a clean install at this URL. It is running under SunnyPilot.

I just did this as well on my Comma 4 + Lukas Harnesses, we'll see if I notice any difference.

I didn't back-up my sunnypilot / Sunnylink settings so I had to go through and reenable /disable things. I think I have it back to what i previously had. Haven't driven much yet with this new install.

 

[gerrylum]

accessory suggestion - AXM connector extender. It would be great if we could plug something into that AXM port and run the it to easier to access point to either easily reconnect the OEM cable or, for examples like this, when upgraded hardware is introduced.

A couple people have suggested this! We need to convince Lukas to make them!

 

[bueller]

if I’m reading this right, you can’t easily manually override the steering with this new Lukas setup. That sounds a little sketchy.

In this mode where cooperative steering isn't available, moving the steering wheel would disengage the Comma, just as it does on stock Driver+.

That's my understanding anyway.

 

[freshpow]

Sounds exciting. I’m vaguely interested in picking up a Comma for my rig but the learning curve is the main thing keeping me away. Who the **** is Uncle Tony and what does his fork have to do with anything? Is he related to Lukas? And what about all these pilots and harnesses?

I jest but it is intimidating for someone who hasn’t done a bunch of research. Is there a good summary somewhere that outlines all of the options/best set up?

 

[Gurule92]

Awesome! Still need to get my hands on a comma system. Maybe I'll review the 4 this year on my channel.

 

[gerrylum]

Sounds exciting. I’m vaguely interested in picking up a Comma for my rig but the learning curve is the main thing keeping me away. Who the **** is Uncle Tony and what does his fork have to do with anything? Is he related to Lukas? And what about all these pilots and harnesses?

I jest but it is intimidating for someone who hasn’t done a bunch of research. Is there a good summary somewhere that outlines all of the options/best set up?

Totally fair, it does look confusing at first.

The key thing to understand is that openpilot is open source. There’s no single “official” setup beyond the base system. People like Uncle Tony, Lukas, and Sunny (from Sunnypilot) are just community developers building on top of it, not some coordinated company or hierarchy. That’s why you see so many names and options.

The upside is flexibility and fast innovation. The downside is a bit of a learning curve.

Super simple breakdown:

• Base setup: Comma + basic harness → torque-based steering only (easy, plug and play)
• Next step: Torque-based steering + Sunnypilot/longitudinal → more capable, full control
• Coming soon: Angle-based harness → even better steering performance
• Advanced: Custom forks like Uncle Tony's "AdventurePilot" → extra tuning, totally optional

If you’re just getting started, you can ignore all the extra names. Start simple, use the basic setup with standard openpilot, and it’ll make sense quickly.

 

[freshpow]

Totally fair, it does look confusing at first.

The key thing to understand is that openpilot is open source. There’s no single “official” setup beyond the base system. People like Uncle Tony, Lukas, and Sunny (from Sunnypilot) are just community developers building on top of it, not some coordinated company or hierarchy. That’s why you see so many names and options.

The upside is flexibility and fast innovation. The downside is a bit of a learning curve.

Super simple breakdown:

• Base setup: Comma + basic harness → steering only (easy, plug and play)
• Next step: Torque-based steering + Sunnypilot/longitudinal → more capable, full control
• Coming soon: Angle-based harness → even better steering performance
• Advanced: Custom forks like Uncle Tony's "AdventurePilot" → extra tuning, totally optional

If you’re just getting started, you can ignore all the extra names. Start simple, use the basic setup with standard openpilot, and it’ll make sense quickly.

Thanks! Super helpful starting point for those of us on the sidelines.

 

[godfodder0901]

Thanks! Super helpful starting point for those of us on the sidelines.

Without question, @gerrylum has been the most knowledgeable and supportive member of the Rivian/Comma community.

@gerrylum, thank you for your support and knowledge!

 

[SwampNut]

In this mode where cooperative steering isn't available, moving the steering wheel would disengage the Comma, just as it does on stock Driver+.

That's my understanding anyway.

Based on a conversation on Discord, it's my understanding that moving the wheel FULLY disengages the Comma. Meaning that you lose speed control too, unlike D+.

Considering this, plus the loss of coop steering, the cost, and the injuries always sustained in swapping harnesses, it's my opinion that this is far from worth it. I'm going to go figure out what I need to do to get the single-cable installation done, and be happy with what I have. I will load up Uncle Tony's new mod to bypass the angle limit.

 

[jrmbadger]

accessory suggestion - AXM connector extender. It would be great if we could plug something into that AXM port and run the it to easier to access point to either easily reconnect the OEM cable or, for examples like this, when upgraded hardware is introduced.

that's a great idea. I'd also add that it'd be nice if the harnesses he's making were about 2 inches longer from the AXM connection. It'd be easier to thread everything behind the fusebox mount - which IMHO is the easiest way to install.

 

[jrmbadger]

Based on a conversation on Discord, it's my understanding that moving the wheel FULLY disengages the Comma. Meaning that you lose speed control too, unlike D+.

Considering this, plus the loss of coop steering, the cost, and the injuries always sustained in swapping harnesses, it's my opinion that this is far from worth it. I'm going to go figure out what I need to do to get the single-cable installation done, and be happy with what I have. I will load up Uncle Tony's new mod to bypass the angle limit.

Yeah, I think I'll give Uncle Tony's new mod a shot this weekend. I'd be nice to get full turns working (I haven't been able to do that yet) in city mode. That may determine whether I shell out for the upgrade.

 

[Singletracker]

Totally fair, it does look confusing at first.

The key thing to understand is that openpilot is open source. There’s no single “official” setup beyond the base system. People like Uncle Tony, Lukas, and Sunny (from Sunnypilot) are just community developers building on top of it, not some coordinated company or hierarchy. That’s why you see so many names and options.

The upside is flexibility and fast innovation. The downside is a bit of a learning curve.

Super simple breakdown:

• Base setup: Comma + basic harness → torque-based steering only (easy, plug and play)
• Next step: Torque-based steering + Sunnypilot/longitudinal → more capable, full control
• Coming soon: Angle-based harness → even better steering performance
• Advanced: Custom forks like Uncle Tony's "AdventurePilot" → extra tuning, totally optional

If you’re just getting started, you can ignore all the extra names. Start simple, use the basic setup with standard openpilot, and it’ll make sense quickly.

Okay. I’ve been experimenting with a few different models from Sunnylink. So far, North Nevada V2 is the best, for me, followed by Down to Ride. Some have recommended WMI V12. I have tried it twice and it was not good, at all. I have been trying to find the Uncle Toni’s Adventure Pilot to give it a try, but am not having any luck. Where the heck is it?

 

[gerrylum]

Okay. I’ve been experimenting with a few different models from Sunnylink. So far, North Nevada V2 is the best, for me, followed by Down to Ride. Some have recommended WMI V12. I have tried it twice and it was not good, at all. I have been trying to find the Uncle Toni’s Adventure Pilot to give it a try, but am not having any luck. Where the heck is it?

The installation path is: AdventurePilotDev/ap-staging

 

[Singletracker]

The installation path is: AdventurePilotDev/ap-staging

I’m missing something. Does this have to be installed directly on the Comma 4 itself, as I do not see this option anywhere else - SunnyPilot, Sunnylink, etc.

Hold ‘er Newt, I just got a notice from Rivian that the latest, greatest software update is ready to install on my rig. I‘ll have to get back to the Comma later

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