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

[gerrylum]

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

The first batch of harnesses are already on their way to US-based distributors and should be in customers' hands in a few weeks.

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[Hawkjody]

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.

it is my understadning the ADVENTUREPILOT FORK works with the longitudinal harness from Lukas and does not required the Angle Based Harness . Does it wirl with the basic harness ?

 

[gerrylum]

it is my understadning the ADVENTUREPILOT FORK works with the longitudinal harness from Lukas and does not required the Angle Based Harness . Does it wirl with the basic harness ?

Yes, Adventure Pilot works with the basic harness as well!

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