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

[josh0]

Just to be clear, the Rivian A harness from comma.ai is not the same as the Gen 1 harness mentioned here, correct? If I’m currently using the harness that came with my Comma 3X, the whole thing needs to be replaced?

Sponsored

 

[gerrylum]

Just to be clear, the Rivian A harness from comma.ai is not the same as the Gen 1 harness mentioned here, correct? If I’m currently using the harness that came with my Comma 3X, the whole thing needs to be replaced?

That's correct. The wiring on the harness from Comma (and older Lukas harnesses for that matter) isn't compatible with the Extreme CAN intercept hardware.

 

[Singletracker]

That's great! Are you running Adventure Pilot or were you able to do 90º+ turns on stock Sunnypilot?

The angle steering harness is shipping on a first-come, first-served basis and is going to start shipping to customers very shortly if it hasn't already. The 6-week timeframe is the conservative estimate but likely sooner depending on when you order.




I'm referring to videos with the User Interface overlay like this:

I’m running regular SunnyPilot using the Tomb Raider 16 model. I tried loading that Adventure Pilot Uncle Toni thing, but didn’t have much luck. At one point I thought I had it, but then I don’t know what happened. The process was about as much of a PITA as installing the Comma itself. Mostly I just got a stiff neck from trying to putz around with that tiny display mounted high on the center of the windshield.

Thanks for the update on Lukas. Think I’ll hang on to my $$ and wait to see if people actually start getting them. Lukas is calling it a ”pre-order” at this point.

 

[gerrylum]

I’m running regular SunnyPilot using the Tomb Raider 16 model. I tried loading that Adventure Pilot Uncle Toni thing, but didn’t have much luck. At one point I thought I had it, but then I don’t know what happened. The process was about as much of a PITA as installing the Comma itself. Mostly I just got a stiff neck from trying to putz around with that tiny display mounted high on the center of the windshield.

Sounds like you may actually have succeeded in installing it. I don't think Uncle Tony's 90-degree defeat code is merged into main Sunnypilot.

 

[josh0]

That's correct. The wiring on the harness from Comma (and older Lukas harnesses for that matter) isn't compatible with the Extreme CAN intercept hardware.

That’s what I figured, thanks!

 

[Singletracker]

Sounds like you may actually have succeeded in installing it. I don't think Uncle Tony's 90-degree defeat code is merged into main Sunnypilot.

How would I know if I have it Installed? As I said, I’m using the Tomb Raider model and can configure it on Sunnylink, no problem. I can easily switch models any time, on Sunnylink.. Would that be possible with the Adventure Pilot and Uncle Tony’s Installed? Are they not separate entities entirely>

 

[gerrylum]

How would I know if I have it Installed? As I said, I’m using the Tomb Raider model and can configure it on Sunnylink, no problem. I can easily switch models any time, on Sunnylink.. Would that be possible with the Adventure Pilot and Uncle Tony’s Installed? Are they not separate entities entirely>

Adventure Pilot is just a fork of Sunnypilot so they are essentially identical to the end user, except for the startup icon and of course Uncle Tony's additional updates for Rivian. Also, if you look at the main screen when you boot up it should say AP-staging or AP-dev depending on which version you installed.

Sunnylink works exactly the same with Adventure Pilot too.

 

[Singletracker]

Adventure Pilot is just a fork of Sunnypilot so they are essentially identical to the end user, except for the startup icon and of course Uncle Tony's additional updates for Rivian. Also, if you look at the main screen when you boot up it should say AP-staging or AP-dev depending on which version you installed.

Sunnylink works exactly the same with Adventure Pilot too.

Thank you soooo much!! I will check it out tomorrow.

 

[LivingInKaos]

Thank you soooo much!! I will check it out tomorrow.

Also, on Sunnylink the branch name is right there in the device details section.

 

[Singletracker]

Also, on Sunnylink the branch name is right there in the device details section.

Well, I guess I had successfully installed Adventure Pilot, after all. This apparently explains why my steering wheel was able to go past 90º. Now that I realize this capability, I will have to experiment with it a little more.

Thank you.
_________

Update: After driving around a bit, it is clear that it can, steering wheel be damned, make those 90º+ turns, if I go nice and slow. The problem is, it’s having so much fun that it doesn’t know when it’s time to stop turning and get realigned with the road Oh, well.

 

[Tarkus]

Order placed, but could not add discount code for returning customers... rats... looking to add another 50,000 miles to my CX3 & Tarkus [my R1S w/120,000 miles]

Happy Memorial Day 2026 from Tarkus & Tarkus Two!

 

[gerrylum]

Order placed, but could not add discount code for returning customers... rats... looking to add another 50,000 miles to my CX3 & Tarkus [my R1S w/120,000 miles]

Are you not a current longitudinal upgrade user?

 

[Singletracker]

Order placed, but could not add discount code for returning customers... rats... looking to add another 50,000 miles to my CX3 & Tarkus [my R1S w/120,000 miles]

I, and I’m sure others, will be very interested to see how long it takes to get delivery of your new Lukas harness. I hope you will post that info when it arrives. TIA

 

[Tarkus]

Are you not a current longitudinal upgrade user?

Yes, I have both the Rivian Gen1 Harness Kit [order#1009] from Mar 2025 & the Longitudinal upgrade kit [order #1124] from May of 2025 but my order number is 1124, which is below 1628 per the post. And I have the Fuse Tap adapter [order #1197]. Did I miss something Capt?

Since this Extreme Dev Kit completely replaces the current kit in Tarkus (my R1S) it also hopefully removes the power from the AXM in the clip as well?

 

[gerrylum]

Yes, I have both the Rivian Gen1 Harness Kit [order#1009] from Mar 2025 & the Longitudinal upgrade kit [order #1124] from May of 2025 but my order number is 1124, which is below 1628 per the post. Did I miss something Capt?

Yes you still get the discount! The order number in the post (1628) was just referring to whether you have the updated wiring harness already rather than the old design. People who have a newer harness don't have to replace the entire thing - just the box.

Sounds like you have an older harness though so the whole thing will need to come out to be replaced.

BUT, you still get the 25% discount as a current longitudinal upgrade customer so I would contact Lukas and let him know.

Sponsored