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Just FYI, the mads-tesla stuff has been merged into SP master so you can use a prebuilt master version of Sunnypilot like sunnypilot/staging-c3-new if you wanted the latest of the latest. I'm pretty sure Rivian has a tacit acceptance of the Comma being used by Gen 1 owners at the point. And I...

If you are in off-road mode you can go to the software menu and click on "check for update". That should let you know.

But of course not on Gen 1.

Hmm, it doesn't look like it would be too high just from the photos, but you can actually see the footage being recorded by the driver monitor camera and see if the mirror is indeed interfering. I fact you can go into the actual routes where it was given you the attention alerts and check the...

Take a photo of your setup! Is you comma mounted so high that you can't take it off the mount? If yiu can, I can't imagine it's mounted too high. In terms of the driving personality, you can make that selectable by going into the developer menu and toggling openpilot Longitudinal alpha. Just...

Nice! Glad to hear everything is working properly!

OK, so using the accelerator to increase set speed doesn't work on this branch. And you should be able to use the right scroll wheel on the steering wheel to select driving personalities. Is that working? Still not sure why you're experiencing those weird deceleration issues though.

It would help if you could also let us know which branch you're on to help us diagnose. It almost sounds like you're using experimental mode. You can also check to see if you have speed limit sign detection on.

No issues as long as you get the necessary harnesses and cables for both vehicles!

Yeah, I get that, but it think we're all using Driver+ colloquially to refer to Highway Assist unless I'm misunderstanding what the previous posters were discussing about portions of highway being "driver+able".

Driver+ should also steer for you, keeping you centered in the lane as long as you have your hand on the wheel.

Yep, that all looks accurate! I would direct you to #2 as well if only to help support Lukas and his development efforts on the Rivian.

Comma isn't in the business of creating upgrades like that. They want to create the easiest, most cost effective way to get people onto the platform. Adding a product like the upgrade kit to the mix makes their product strategy unnecessarily complex. Better idea to leave that kind of thing up to...

Great list! I'll just add that the upgrade kit also adds scroll wheel functionality to select driving personality on Sunnypilot.

Just FYI, Openpilot Longitudinal also uses the Rivian's radar in addition to vision.

Currently that's the only mechanism, but we have found the signal for the driver stalk so we'll hopefully have a different method for this soon, like double tapping on the stalk, etc.

I have been told that it does constant calibrations so it may get better over time. Also, when it's time to change your tires that's a good opportunity to increase you torque by 30% or more.

Yeah, it's definitely a work in progress. I wouldn't recommend it to anyone who just wants an easy plug and play system that isn't wiling to do at least a little tinkering. The install alone is a big hurdle for most people.

There's no fighting the system. This may be one of the misconceptions you have about Openpilot's cooperative steering and torque blending. With torque blending when you apply torque to the steering wheel, openpilot reduces the torque it is sending, essentially blending the two torque inputs for...

You can toggle openpilot on and off in the software, at which point the Rivian will behave as it would in a stock setup.