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I recently did something people have been asking me about and I’ve been curious about for a while myself. I figured the community here might find it interesting. I tested Comma running Sunnypilot while towing our Winnebago travel trailer with my 2022 Rivian R1T to see how well the system...

Yes, there is a "torque learning" feature for Rivians that learns and tunes your steering torque over time. It typically requires around an hour of driving to dial itself in.

Oh, if you've already installed it just leave it alone! :D If you start to experience issues, then maybe you can revisit it. And you don't necessarily need a second fuse tap - I *think* you could power the harness and the upgrade from one fuse tap that has two outputs (micro molex and USB-C).

Great questions. 1) Comma power: You’re right that Comma lists OBD power as optional, but on Rivians there have been a handful of cases where sourcing power through the AXM caused odd behavior due to back-feeding between power sources. It’s not extremely common, but it has happened enough that...

What kind of a phone do you have? Usually the stock camera app also acts as a QR code reader.

Can you back up from the screen a bit and then use the camera zoom to zoom in on the QR code? I've had that work before when scanning smaller codes.

The fix will be integrated into sunnypilot, which will automatically flash updated firmware to the longitudinal upgrade. Once the new firmware is installed, the upgrade no longer needs to be connected to the Comma’s secondary port for data. It will still require power, though. You can leave it...

No real change - looks like you're still getting around 2.2 m/s^2.

It's not device-specific per se, but if you're on a Comma 3X you may be using the Master branch of Sunnypilot that hasn't had the Panda-over-USB deprecation change merged in yet. If you have a Comma 4 you only have the option of dev or staging, both of which have the aforementioned change...

That's a new setting, I haven't seen that before. Typically lateral acceleration factor is not something you "set" it's just a measurement of how much torque is being applied to turning and is different for different setups including tire selection tire size Etc. I have to look into that...

You have these on your 22s, right?

Thanks for the reminder. I've just added it. @narmstrong79 if you want to send me an updated route I can see if your values have changed at all.

It would affect both, but only if you're using the longitudinal upgrade.

Just beware there is a bug right now in Sunnypilot regard2ghe Longitudinal upgrade. Lukas and Sunny wlare actively working on fixing it, though. There will also be ssvereal settings you'll want to change in the Sunnylink dashboard to take advantage of all the features that the long upgrade...

The Longitudinal adapter is not compatible with Openpilot. It only works with sunnypilot. If you want to run openpilot, remove the connection to the upgrade.

MADS is such a cool feature that's so difficult to explain to anyone who hasn't used it before.

As mentioned you need to use the Sunnylink dashboard to change a lot of the settings on the Comma 4.

I have, but that's just a general problem with Rivians.

They do and this is one of the major reasons I recommend getting an extended warranty on these things. They can very easily pay for themselves.

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.