Table of Contents

• Updates on Branch Names and Links
• Join our Discord
• What is bluepilot?
• Running in a car
• Read Before Installing
• Prohibited Safety Modifications
• Installation
• Highlight Features
• Special Thanks
• User Data
• Licensing

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💭 Updates on Branch Names and Links

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As of May 2025, we are updating the way branches are named and how links are generated. We had intially intended to use a branch naming system similar to openpilot and sunnypilot where there was a "stable" or "release" branch which included all fully vetted code, and then "staging" or "beta" branches with new code that would eventually move into the stable/release branches. However as we evolved we found everyone liked being able to bounce between newer and older branches to compare features and control. Moving forwards all releases will simply be named bp-"feature release number" as an example "staging-1.1" which features the bluepilot 1.1 features (custom tuning) will become "bp-1.1". We will not delete older branches so that anyone can go back and view older code for references. Branches that no longer work properly will be denoted as -deprecated.

To install any version of bleupilot, use the following URL formula (URL is case sensitive)

installer.comma.ai/BluePilotDev/"branch name"

For example

installer.comma.ai/BluePilotDev/bp-2.1

will install the bp-2.1 branch. Branches known to no longer work due to changes in the comma codebase will be apended with -deprecated so it will be obvious they will not install or work correctly.

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💭 Join our Discord

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Join the official #ford channel at the sunnypilot Discord server to stay up to date with all the latest features and be a part of shaping the future of bluepilot!

• sunnypilot Discord server

🌞 What is bluepilot?

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bluepilot is a fork of the hugely popular SunnyPilot project for the Comma3 and Comma3X. The goal of BluePilot is to develop, test, and stage Ford specific enhancements, validating them before submission to the SunnyPilot team for inclusion in the parent project.

⛔ Prohibited Safety Modifications

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All official sunnypilot branches strictly adhere to comma.ai's safety policy. Any changes that go against this policy will result in your fork and your device being banned from both comma.ai and sunnypilot channels. This same stipulation applies to all bluepilot instances as well.

The following changes are a VIOLATION of this policy and ARE NOT included in any sunnypilot branches:

• Driver Monitoring:
  • ❌ "Nerfing" or reducing monitoring parameters.
• Panda safety:
  • ❌ No preventing disengaging of LONGITUDINAL CONTROL (acceleration/brake) on brake pedal press.
  • ❌ No auto re-engaging of LONGITUDINAL CONTROL (acceleration/brake) on brake pedal release.
  • ❌ No disengaging on ACC MAIN in OFF state.

⚒ Installation

Please see the note above about updated branch names:

Updates on Branch Names and Links

• bluepilot not installed

  1. Factory reset/uninstall the previous software if you have another software/fork installed.
  2. After factory reset/uninstall and upon reboot, select Custom Software when given the option.
  3. Input the installation URL based on the desired branch. Example: installer.comma.ai/BluePilotDev/staging-2.1 [^4] (note: https:// is not requirement on the comma three)
  4. Complete the rest of the installation following the onscreen instructions.

• bluepilot already installed and you installed a version after 0.8.17?

  1. On the comma three, go to Settings ▶️ Software.
  2. At the Download option, press CHECK. This will fetch the list of latest branches from sunnypilot.
  3. At the Target Branch option, press SELECT to open the Target Branch selector.
  4. Scroll to select the desired branch

Requires further assistance with software installation? Join the sunnypilot Discord server and message us in the #ford channel.

🚗 Highlight Features

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In addition to all sunnypilot features, bluepilot incorporates the following Ford specific enhacements.

• [Improved Ford Longitudinal controls] - logic to adjust stock OpenPilot single acceleration signal into seperate gas and brake signals for much smoother long control on ford vehicles.
• [Anti-Windup in Turns] - Logic to reset the EPAS back to zero when a human turn is detected. This prevents the EPAS from winding up and fighting to keep turning after the car has straightened up. Makes experimental mode and MADS safer to use.
• [Anti Ping Pong Logic] - Applies a blend of desired curvature and predicted curvature when no curves have been detected for at least the next 3 seconds. This greatly reduce steering wheel wiggle and ping pong.
• [Less Aggressive Lane Changes] - utilizes a blend of desired curvature and predicted curvature to achieve smoother, less aggressive lane changes.

📗 How To's

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How-To instructions can be found in HOW-TOS.md.

🏆 Special Thanks

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• twilsonco

📊 User Data

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By default, sunnypilot/bluepilot uploads the driving data to comma servers. You can also access your data through comma connect.

sunnypilot/bluepilot is open source software. The user is free to disable data collection if they wish to do so.

sunnypilot/bluepilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.

By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

Licensing

openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.

THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.

Support sunnypilot

💰 Support sunnypilot

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If you find any of the features useful, consider becoming a patron on Patreon or a sponsor on GitHub to support future feature development and improvements.

By becoming a patron/sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.

Patreon

GitHub Sponsor

PayPal

- BluePilotDev Team