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

[gerrylum]

Angle-based steering is finally working on Gen 1 Rivians with Comma and it’s a pretty big step up.

I put together a video breaking down angle vs torque steering, showing real-world driving, and covering some big updates like Uncle Tony’s latest fork and Gen 2 support getting merged into openpilot.

If you’re running openpilot or Sunnypilot on a Rivian, this is worth a look.

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[jrmbadger]

Nice!

Those are two big caveats though: 1.) a $520.00 harness (plus tarrifs) and 2.) no co-op steering. I really like the co-op steering as it helps correct some of the model's tendencies to stick on the inside of the curves and it allows me to keep the system on when comma gets confused.

Will the required harness need to be plugged into the AXM? Or is this just replacing the longitudinal upgrade box?

Decisions, Decisions.

 

[godfodder0901]

Angle-based steering is finally working on Gen 1 Rivians with Comma and it’s a pretty big step up.

I put together a video breaking down angle vs torque steering, showing real-world driving, and covering some big updates like Uncle Tony’s latest fork and Gen 2 support getting merged into openpilot.

If you’re running openpilot or Sunnypilot on a Rivian, this is worth a look.

F&*K YES!!!

 

[CDC_73]

I installed Uncle Tony’s latest fork on my standard Comma 4 setup (no Lukas) and it does handle curves much better than standard SunnyPilot up to a certain limit.

 

[gerrylum]

Nice!

Those are two big caveats though: 1.) a $520.00 harness (plus tarrifs) and 2.) no co-op steering. I really like the co-op steering as it helps correct some of the model's tendencies to stick on the inside of the curves and it allows me to keep the system on when comma gets confused.

Will the required harness need to be plugged into the AXM? Or is this just replacing the longitudinal upgrade box?

Decisions, Decisions.

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.

 

[Biturbowned]

Amaze amaze amaze!

 

[jcornish]

Angle-based steering is finally working on Gen 1 Rivians with Comma and it’s a pretty big step up.

I put together a video breaking down angle vs torque steering, showing real-world driving, and covering some big updates like Uncle Tony’s latest fork and Gen 2 support getting merged into openpilot.

If you’re running openpilot or Sunnypilot on a Rivian, this is worth a look.

 

[jcornish]

How and where do I buy one of these units? I have the comma 3, and love it, except for the sharper turns. Thanks

 

[Millertimr]

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.

The shipping still says standard international, how can I ensure it's domestic?

 

[gerrylum]

How and where do I buy one of these units? I have the comma 3, and love it, except for the sharper turns. Thanks

They should be available within a month or so.

The shipping still says standard international, how can I ensure it's domestic?

You can send Lukas a quick message over on xnor.shop. He should be able to let you know for sure.

 

[Riviot]

Does Comma upgrade the Gen1s to actually be totally hands free like advertised in 2022 now? Click a button and go door to door?

Bonus points if it'll stop when security waves at you.

 

[godfodder0901]

Does Comma upgrade the Gen1s to actually be totally hands free like advertised in 2022 now? Click a button and go door to door?

Bonus points if it'll stop when security waves at you.

No, it's more like UHF. No stops. No nav.

 

[Singletracker]

I installed Uncle Tony’s latest fork on my standard Comma 4 setup (no Lukas) and it does handle curves much better than standard SunnyPilot up to a certain limit.

Where did you find Uncle Tony’s fork? I’m been using North Nevada V2 from the Sunnylink site on my Comma 4 with no Lukas upgrade. It’s the best I‘ve tried, so far, on sweeping turns. But, I’ll always be looking for better, given the limitation of the torque steering.

$520 better?! Dunno about that. And, if I’m reading this right, you can’t easily manually override the steering with this new Lukas setup. That sounds a little sketchy. Anyway, it’s interesting to see the progress being made.

 

[CDC_73]

Where did you find Uncle Tony’s fork? I’m been using North Nevada V2 from the Sunnylink site on my Comma 4 with no Lukas upgrade. It’s the best I‘ve tried, so far, on sweeping turns. But, I’ll always be looking for better, given the limitation of the torque steering.

$520 better?! Dunno about that. And, if I’m reading this right, you can’t easily manually override the steering with this new Lukas setup. That sounds a little sketchy. Anyway, it’s interesting to see the progress being made.

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

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