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

[CDC_73]

He tends to stick with DTRv6

I've been using GWMv8 with the angle harness

Is it running on AdventurePilot or SunnyPilot?

Sponsored

 

[gerrylum]

Is it running on AdventurePilot or SunnyPilot?

It's running Lukas' rivian extreme fork based off of sunnypilot for his angle-based harness.

 

[Singletracker]

Don’t have the angle based steering mod, yet. But, I am running Adventure Pilot and after trying a bunch of different models, I keep going back to the North Nevada V2. It works really well, seems to handle corners better than most, and is amazing on unmarked, less than perfect roads.

 

[jrmbadger]

Got the angle based kit and installed today. I took it for a quick drive and here are my thoughts:

The good:
The steering is, most of the time, much smoother. When staying on a same road it smoothly tracks the road through curves. It handled a round-about well until the model lost the path. In contrast, the torque based steering tends to do lots of corrections which makes it feel a bit uneasy. Angle feels more planted.

In turns (eg when turning onto a different road) the steering ability of the angle kit is impressive and will be great once the models catch up.

The bad:
The cooperative steering is
inconsistent. Sometimes it works well, but at times the system fights you and the angle-based is much stronger than the torque-based, leading me to have to really pull on the wheel to correct it. Even when i correct it the system sometimes seems to keep fighting me.

In addition, i had an instance when it was turning that it applied very quick and very sharp alternating left/right steering inputs that, when combined with the above collaborative steering issue created a tense moment or two. Perhaps the model was confused because at that point i hadnt turned on the turn desires setting and was trying to turn? Regardless the amount of steering authority with the angle based kit can make this something to watch out for as it can spin the wheel much faster it seems.

down to ride v6 had some trouble completing lane changes. Never had that issue with dtr before. Maybe ill try recalibration or a different model.

All in all i hope these bugs can be ironed out because the smoother steering is nicer.

 

[LivingInKaos]

We spent a bit of back and forth time on coop with Lukas. We tried going to torque the moment the hand touched the wheel, but that causes problems for those that like to drive with a hand on the wheel even though comma is doing the driving. So this requires touch and some torque on the steering wheel. I will say, if you can grip the wheel firmly for a split second before trying to cooperative steer, it does so much smoother. When you are in an area that you can play with this away from possible danger, you'll see what it takes. When you start having issues with how comma is steering or if there's a reason to have to take over, most people grab the wheel as they are turning and that is when you feel the pushback from angle before releasing to torque. If you do it hard and quick, you may end up with a steering fault on the Rivian that requires a sleep or reboot (still totally drivable, just no comma reengagement possible). We really spent a lot of time trying to find the right combo here.

 

[jrmbadger]

We spent a bit of back and forth time on coop with Lukas. We tried going to torque the moment the hand touched the wheel, but that causes problems for those that like to drive with a hand on the wheel even though comma is doing the driving. So this requires touch and some torque on the steering wheel. I will say, if you can grip the wheel firmly for a split second before trying to cooperative steer, it does so much smoother. When you are in an area that you can play with this away from possible danger, you'll see what it takes. When you start having issues with how comma is steering or if there's a reason to have to take over, most people grab the wheel as they are turning and that is when you feel the pushback from angle before releasing to torque. If you do it hard and quick, you may end up with a steering fault on the Rivian that requires a sleep or reboot (still totally drivable, just no comma reengagement possible). We really spent a lot of time trying to find the right combo here.

Thanks for the tips. I’ll play with it some more to see if I can better get the hang of it.

 

[BrianNakata]

I got my extreme dev kit today, and am confused by the included 8 ft USB-C cable as it has a plug on one end and a receptacle on the other. I don’t see how I can connect to the receptacle end as all the USB-C connections (on the box connected to the harness and on the Comma 4) are themselves receptacles.

Also, I’m trying to use Janka’s non-magnetic cross glide mount and it came with a fairly short USB-C cable (plugs on both ends) that I don’t know if I need. Do I plug one end of this into the mount and the other end into the receptacle on the Lukas-supplied 8 ft cable?

Sorry, for the nube questions/confusion, but there isn’t much specific documentation on this combo.

Thanks in advance.

Brian

 

[gerrylum]

I got my extreme dev kit today, and am confused by the included 8 ft USB-C cable as it has a plug on one end and a receptacle on the other. I don’t see how I can connect to the receptacle end as all the USB-C connections (on the box connected to the harness and on the Comma 4) are themselves receptacles.

Also, I’m trying to use Janka’s non-magnetic cross glide mount and it came with a fairly short USB-C cable (plugs on both ends) that I don’t know if I need. Do I plug one end of this into the mount and the other end into the receptacle on the Lukas-supplied 8 ft cable?

Sorry, for the nube questions/confusion, but there isn’t much specific documentation on this combo.

Thanks in advance.

Brian

It's an extension cable. The Comma 4 should have come with a short male-to-male cable that the extension would attach to.

Ah, I see your Janka came with one too - you could also use that.

The issue is most Comma installations happen right at the rear-view mirror. Rivian is one of the few that have to be installed much further away, necessitating the use of an extension.

 

[BrianNakata]

Thanks so much for the super-quick reply. Installation recommencing…

Brian

 

[zefram47]

I got my extreme dev kit today, and am confused by the included 8 ft USB-C cable as it has a plug on one end and a receptacle on the other. I don’t see how I can connect to the receptacle end as all the USB-C connections (on the box connected to the harness and on the Comma 4) are themselves receptacles.

Also, I’m trying to use Janka’s non-magnetic cross glide mount and it came with a fairly short USB-C cable (plugs on both ends) that I don’t know if I need. Do I plug one end of this into the mount and the other end into the receptacle on the Lukas-supplied 8 ft cable?

Sorry, for the nube questions/confusion, but there isn’t much specific documentation on this combo.

Thanks in advance.

Brian

Not sure if it's because I ordered the RIvian harness with my Comma4, but it came with a long USB-C/OBD-C cable as well as the short one. I just used the one long male-male cable up to the Janka Cross-Glide mount. Then use the molded short cable between the Comma4 and the removable part of the mount and make sure to use the set-screws so it can't come off the mount.

 

[gerrylum]

Not sure if it's because I ordered the RIvian harness with my Comma4, but it came with a long USB-C/OBD-C cable as well as the short one. I just used the one long male-male cable up to the Janka Cross-Glide mount. Then use the molded short cable between the Comma4 and the removable part of the mount and make sure to use the set-screws so it can't come off the mount.

Yup, that's exactly why. They automatically package all the Commas with the short cable since that's what most installations need. Then people who order the rivian harness get the long cable packaged in with the harness as well.

 

[jrmbadger]

I spent some more time with it on Saturday by using it on a 6 hour road trip. While the tech is promising and likely the future, Im temporarily going back to torque-based control.

On the highway it was good. @LivingInKaos had some good feedback that seemed to work to engage the cooperative steering when navigating some poorly done road construction lanes that were confusing the models. One issue I noticed is that sometimes, once you are “out” of angle based, even though comma was still engaged, it sometimes needed me to push down on the stalk to get back “in” and tracking properly. Its hard to explain as it was more of a feel thing.

in the city with MADS mode, doing any sort of turn is just scary. Feels like your fighting with a suicidial passenger thats grabbing and yanking the wheel hard. I realize its the models and their poor turn abilities but there really needs to be a safety on the angle based. Eg if the current steering angle is X and the model is commanding Y and if Y differs from X by over a threshold amount then command Z (where Z is between Y and X) and then a bit later command X. The sharp and aggressive angle commands coupled with rivians FAST and POWERFUL epas were so bad my wife in the passenger seat noticed and commented that it was jerky and scary.

I’m up to work with anyone to improve this and test things as I definitely think this is promising tech.

Perhaps Im doing something wrong or have some setting wrong?

Sponsored