Use Pinion Yaw Sensor in BluePilot

Includes device menus and Sunnylink and BluePilot Portal settings. Availability depends on your device, car and software.

• Dynamic Experimental Control

  Automatically chooses between BluePilot cruise and model-led acceleration and braking while Experimental Mode is active.

• Experimental Mode

  Lets the driving model attempt acceleration and braking decisions. This is experimental; mistakes are expected.

• Steering maneuver test

  Replaces normal steering with a fixed test sequence. The source marks it not for road use.

• Acceleration and braking test

  Replaces normal speed control with a fixed test sequence. The source marks it not for road use.

• copyparty Service

  Enables a local file server for routes, logs and files.

• Enable ADB

  Enables the Android Debug Bridge connection for development.

• Enable SSH

  Enables command-line access to the real device.

• Joystick Debug Mode

  A development tool for testing control inputs.

• Show Advanced Controls

  Reveals additional controls without changing whether their features are enabled.

• SSH keys

  Loads the public SSH keys from the GitHub username entered on the real device.

• SSH Keys

  Loads the public SSH keys from the GitHub username entered on the real device.

• Experimental acceleration and braking control

  Switches eligible cars to experimental BluePilot acceleration and braking control. The source warns this can disable Automatic Emergency Braking.

• UI Debug Mode

  Shows interface diagnostics such as touch markers and frame rate.

• Advanced

  Opens hotspot, metered-network and mobile-carrier options.

• apn settings

  Edits the mobile carrier’s connection settings.

• backup settings

  Saves a copy of settings through sunnylink.

• Backup Settings

  Saves a copy of settings through sunnylink.

• cellular metered

  Marks cellular data as metered.

• device id

  The identifier shown for this device in sunnylink.

• enable roaming

  Allows cellular data roaming.

• enable sunnylink

  The main switch for sunnylink requests.

• enable tethering

  Turns on the device’s Wi-Fi hotspot.

• network usage

  Marks the current Wi-Fi network as metered or unmetered.

• pair

  Links an account to sunnylink on the real device.

• Pair GitHub Account

  Links an account to sunnylink on the real device.

• restore settings

  Restores a saved settings backup.

• Restore Settings

  Restores a saved settings backup.

• Scan

  Refreshes nearby Wi-Fi networks on the real device.

• sponsor

  Opens sponsorship information on the real device.

• Sponsor Status

  Shows sponsorship information.

• sponsor tier

  Shows the account’s sponsorship level.

• sunnylink uploader

  Controls the separate sunnylink driving-data uploader.

• tethering password

  Changes the password for that hotspot.

• wi-fi

  Opens the Wi-Fi network list.

• Change Language

  Selects the language used by the interface.

• device ID

  The real device’s comma account identifier.

• Dongle ID

  The real device’s comma account identifier.

• driver camera preview

  Shows the driver-facing camera view so you can check positioning.

• Driver Camera Preview

  Shows the driver-facing camera view so you can check positioning.

• Max Time Offroad

  Sets how long the device can stay on after the engine is turned off.

• Onroad Uploads

  Controls the driving-time upload preference. This setting alone does not establish all upload behavior.

• pair

  Connects the real device to comma connect.

• Pair Device

  Connects the real device to comma connect.

• power off

  Shuts down the real device after confirmation.

• Power Off

  Shuts down the real device after confirmation.

• Quiet Mode

  Controls the device’s Quiet Mode preference. This does not establish that every warning or sound is muted.

• reboot

  Restarts the real device after confirmation.

• Reboot

  Restarts the real device after confirmation.

• Regulatory

  Displays regulatory information.

• regulatory info

  Displays the device’s regulatory information.

• reset calibration

  Clears learned calibration values so the real device can relearn them.

• Reset Calibration

  Clears learned calibration values so the real device can relearn them.

• Reset Settings

  Resets BluePilot settings after confirmation.

• review training guide

  Reopens the on-device introduction and training.

• serial

  The hardware serial number.

• Serial

  The hardware serial number.

• terms & conditions

  Opens the installed terms for review.

• Training Guide

  Reopens the on-device introduction and training.

• uninstall sunnypilot

  Removes BluePilot from the real device after confirmation.

• update sunnypilot

  Asks the updater to check for software. The button changes with update status.

• Wake Up Behavior

  Chooses whether the device wakes normally or in Always Offroad mode.

• Developer UI

  Places live technical readings on the driving screen.

• Display Metrics Below Chevron

  Chooses information under the marker for the vehicle ahead.

• Display Road Name

  Shows the road name from downloaded map data.

• Display Turn Signals

  Shows turn-signal indicators on the driving screen.

• Green Traffic Light Alert (Beta)

  Gives a chime when a detected light turns green with no lead car. The schema describes the visual notification as comma 3X only. Check the road yourself.

• Interactivity Timeout

  Sets how long the settings screen stays open without interaction.

• Lead Departure Alert (Beta)

  Gives a chime when a lead car moves away while you are stopped. The schema describes the visual notification as comma 3X only. Check the road yourself.

• Onroad Brightness

  Chooses automatic brightness, a darker automatic mode, screen off, or a fixed percentage.

• Onroad Brightness Delay

  Sets the wait before the chosen brightness takes effect.

• Real-time Acceleration Bar

  Shows measured acceleration and slowing down.

• Show Blind Spot Warnings

  Shows warnings from the car’s supported blind-spot monitoring.

• Speedometer: Always Display True Speed

  Uses wheel-sensor vehicle speed on applicable cars.

• Speedometer: Hide from Onroad Screen

  Hides the speedometer from the driving screen.

• Standstill Timer

  Shows how long the car has been stopped.

• Steering Arc

  Shows an arc when steering assistance is active.

• Tesla Rainbow Mode

  Gives the predicted driving path a rainbow appearance.

• ALL TIME

  Shows total drive count, distance and hours.

• PAST WEEK

  Shows drive count, distance and hours for the past week.

• Always-On Driver Monitoring

  Keeps driver monitoring active when BluePilot is not engaged.

• Disengage Cruise on Accelerator Pedal

  Disengages speed control when you press the accelerator. Steering behavior also depends on the separate steering-assistance settings.

• Driving Personality

  Changes following distance and how readily BluePilot accelerates and brakes. The BluePilot screen recommends Standard.

• Enable Lane Departure Warnings

  Warns when the car drifts across a detected lane line without a turn signal above 31 mph (50 km/h).

• Enable sunnypilot

  Enables BluePilot driving assistance. The driver must stay attentive and ready to take over.

• Record and Upload Driver Camera

  The upstream setting offers driver-camera recording and upload. This guide does not change recording or establish actual upload behavior.

• Record and Upload Microphone Audio

  The upstream setting offers microphone recording for driving videos. This guide does not record audio.

• Use Metric System

  Shows speed in kilometres per hour instead of miles per hour.

• active model

  Names the model bundle currently selected on the real device.

• Adjust Lane Turn Speed

  Sets the speed threshold for lane-turn intentions.

• Adjust Software Delay

  Sets the software part of the steering delay, added to the car’s actuator delay.

• cache size

  Shows space used by saved model files.

• cancel download

  Stops the requested model download.

• Cancel Download

  Cancels a requested model download.

• Clear Model Cache

  Removes downloaded model files except the currently active model, after confirmation.

• Current Model

  Shows the active model and opens model selection.

• Driving Model

  Shows progress for the driving model in the selected bundle.

• Live Learning Steer Delay

  Allows the system to learn the steering response time.

• Off-Policy Model

  Shows progress for the off-policy model in the selected bundle.

• On-Policy Model

  Shows progress for the on-policy model in the selected bundle.

• Policy Model

  Shows progress for the policy model in the selected bundle.

• Refresh Model List

  Fetches the current model list on the real device.

• select model

  Opens available model groups and model choices.

• Use Lane Turn Desires

  Allows low-speed turn intentions with the turn signal on.

• Vision Model

  Shows progress for the vision model in the selected bundle.

• Country

  Selects country data to download.

• Database Update

  Checks for updates to the map database.

• Downloaded Maps

  Shows downloaded map data and offers deletion on the real device.

• Downloading Map

  Shows map-download progress.

• Mapd Version

  Shows the installed map service version.

• State

  Selects state data to download.

• ACTIVE

  The screen uses this status when connected to an unmetered network.

• ACTIVE

  The screen uses this status when connected to an unmetered network.

• Firehose Mode

  Explains the project’s driving-data contribution feature.

• Firehose Mode

  Explains the project’s driving-data contribution feature.

• Current Version

  Shows the installed software version.

• Disable Updates

  Disables software updates after the required reboot.

• Download

  Checks for an update and manages its download.

• Install Update

  Installs a downloaded update on the real device.

• Target Branch

  Chooses the software branch the updater follows.

• Uninstall

  Removes BluePilot after confirmation.

• Enable Custom ACC Speed Intervals

  Customizes how much cruise speed changes with short and long button presses.

• Intelligent Cruise Button Management (ICBM) (Alpha)

  Attempts to adjust factory cruise control by simulating cruise-button presses.

• Long Press Increment

  Sets the amount added or removed by a long cruise-button press.

• Map

  Uses map data to estimate a speed for turns ahead.

• Short Press Increment

  Sets the amount added or removed by a short cruise-button press.

• Speed Limit

  Opens speed-limit display, source, offset and assistance settings.

• Vision

  Uses the model’s predicted path to estimate a speed for turns ahead.

• Customize Lane Change

  Opens lane-change assistance settings.

• Customize steering assistance

  Opens settings for when steering assistance starts, pauses and stops.

• Customize steering-force settings

  Opens advanced settings for steering-force control.

• Separate steering and speed assistance

  Changes how steering assistance engages and disengages relative to cruise control.

• Use steering-force control

  Selects steering-force control on eligible cars.

• Minimum speed for turn-signal steering pause

  Sets a shared speed threshold: the Steering menu uses it for steering pause, while BluePilot uses it for automatic lane-change pause.

• Learned steering control

  Uses a learned steering controller on eligible cars.

• Pause steering with the turn signal

  Pauses steering assistance with a turn signal below the selected speed.

• Post-Blinker Delay

  Sets the delay before steering assistance resumes after the signal ends.

• No vehicle selected

  Shows the current detection or manual selection. The real menu can force a vehicle identity.

• web routes server

  Enables the device’s local BluePilot Portal web server for access from a browser on the same network.

• QR code

  Shows the BluePilot Portal address as a QR code when the web routes server is enabled.

• pref. wifi net

  Chooses a saved Wi-Fi network to prefer when it is available.

• vehicle

  Opens vehicle.

• audio

  Opens audio.

• visuals

  Opens visuals.

• Primary Control Variable

  Chooses BluePilot’s curvature-based steering strategy or its angle-based strategy, marked in development in this source.

• lat. tuning

  Opens lat. tuning.

• long. tuning

  Opens long. tuning.

• UI Debug Logging

  Records interface state changes to help diagnose display problems.

• clear crashed model

  Clears the cached model-runner selection and asks to restart. This is a troubleshooting action when the driving model cannot start.

• Connect Backend

  Selects the service backend used by this build. Changing it requires a restart; the menu label alone does not establish all network or privacy behavior.

• restore dongle id

  Offers to restore a previously registered device ID after a backend change, only when a recoverable ID is found.

• Show BlueCruise UI on Cluster

  Shows the BlueCruise-style graphics in a supported Ford instrument cluster. It does not turn BluePilot into Ford BlueCruise or remove driver supervision.

• Use Pinion Yaw Sensor

  Uses the steering pinion sensor to estimate turning instead of the yaw sensor. This troubleshooting option takes effect at the next car start and is disabled for the Ford Edge MK2.

• 12V Battery Limit

  Stores the 12-volt battery-limit preference shown by BluePilot. Its effect on charging has not been verified in this guide.

• Use Custom Engage/Disengage Sounds

  Replaces engagement and disengagement sounds with the selected sound pack.

• Engage/Disengage Sound

  Chooses the engagement and disengagement sound pack. Custom sounds must be enabled; apply sound changes while parked and restart when prompted.

• Lower Right Display

  Chooses the small lower-right display: off, lead-car speed, your speed, lead-car distance, or time to the lead car.

• Theme

  Selects a driving-screen theme, including 8-Bit Racer or an installed seasonal theme pack.

• Auto Seasonal Theme

  Automatically uses a seasonal theme during its holiday window, then returns to the selected theme.

• Hide Onroad Fade

  Hides the dark fade overlay on the comma four driving view.

• Hide Onroad Border

  Hide the colored status border around the driving view.

• Minimal Driving View

  Disable camera feed & only show lane lines and model path.

• Rainbow Lane Lines

  Inner lane lines become rainbow colored when longitudinal control is active.

• Show Blindspot Overlay

  Display red overlay when vehicle is detected in blindspot.

• Show Brake Status

  Display speed setpoint in red when vehicle is braking.

• Animate Steering Wheel

  Rotate the steering wheel icon to match the current steering angle.

• Wheel Icon Style

  Chooses the comma four or comma 3X appearance for the steering-wheel icon.

• DM Icon Style

  Chooses the comma four or comma 3X appearance for the driver-monitoring icon.

• Show Hybrid Power Flow

  Display power flow gauge showing throttle demand and regenerative braking.

• Hybrid/EV Power Flow Style

  Chooses the flat or round style for the comma four hybrid power-flow display.

• Low Speed Adjustment Factor

  Advanced adjustment to the low-speed steering response in Angle mode.

• High Speed Adjustment Factor

  Advanced adjustment to the high-speed steering response in Angle mode.

• High Speed Low Curve Adjustment Factor

  Advanced adjustment to Angle-mode steering on gentle curves at higher speeds.

• Lane Change Factor High

  Scales steering during lane changes in Angle mode. This value is separate from the Curvature-mode lane-change factor.

• Disable Auto Lane Change Under Speed

  Pauses automatic lane-change requests below the selected speed while the turn signal is on. This is separate from the Steering menu’s steering-pause switch.

• Lane Change Factor High

  Scales steering during lane changes in Curvature mode. This value is separate from the Angle-mode lane-change factor.

• Enable Human Turn Detection

  Enables BluePilot’s detection of driver-initiated turns in curvature mode.

• In-Lane Offset

  Adjusts the requested position within the lane for BluePilot’s curvature-control lane-positioning feature.

• Enable Lane Positioning

  Enables BluePilot’s custom lane-positioning controls in curvature mode.

• Enable Lanefull Mode

  Enables the lane-line-based option within BluePilot’s curvature-mode lane positioning.

• Use Custom Tuning Profile

  Enables the custom curvature-control tuning profile.

• Predicted Curvature Blend Ratio High

  Adjusts how predicted curvature is blended in the custom tuning profile’s high-curvature range.

• Predicted Curvature Blend Ratio Low

  Adjusts how predicted curvature is blended in the custom tuning profile’s low-curvature range.

• Centering PID Gain

  Adjusts the strength of the curvature-mode lane-centering correction when custom tuning and lane positioning are enabled.

• Show Lateral Control Mode

  Display the lateral control mode overlay on the steering wheel icon.

• Disable BP Lateral Control

  Bypasses BluePilot’s custom steering-control layer. This is an advanced troubleshooting control.

• Bypass BP Longitudinal Control

  Bypasses BluePilot’s custom acceleration-and-braking tuning and uses the inherited control logic. It does not select factory cruise control.

• Disable Downhill Compensation

  Turns off BluePilot’s slope-based acceleration and braking compensation when going downhill.

• Disable Ford Radar (Vision-Only Leads)

  Stops using Ford radar for lead-vehicle detection and uses vision-model leads. The source requires a restart.

• Disable Lane Line Status Color

  Keep lane lines grey instead of changing to green when engaged.

• Show Confidence Ball

  Display the confidence ball on the left side of the driving view.

• Show Radar Lead Overlay (Ford ACC)

  Display chevron with lead vehicle info when using Ford stock ACC.

• Radar Overlay Size

  Set the size of the radar lead overlay chevron and info boxes.

• Show Hybrid/EV Battery Status

  Display hybrid battery gauge with SOC, voltage, and amps.

• Hybrid/EV Gauge Size

  Set the size of the battery and power flow gauges.

• Hybrid Gauge Style

  Flat: horizontal bar in shared container. Arched: arch above torque bar (older style).

• Clear Crashed Model

  Clears the cached model-runner selection and asks to restart. This is a troubleshooting action when the driving model cannot start.

• Restore Cached Dongle ID

  Offers to restore a previously registered device ID after a backend change, only when a recoverable ID is found.

• Reset Menu Layout

  Collapse all sections to fix overlapping items. Use this if the menu looks broken.

• Portal address and QR code

  Shows the local address and QR code for BluePilot Portal when the server is enabled and the device has a Wi-Fi address.

• Toggle with Main Cruise

  Lets the car’s main cruise button control steering-assistance availability. On cars without a separate lane-assist button, turning this off can prevent steering assistance from engaging.

• Unified Engagement Mode (UEM)

  Engages steering and speed assistance together with cruise. Steering can stay active after cruise stops. Switch off separate steering assistance or the car to end it.

• Steering Mode on Brake Pedal

  Chooses whether steering assistance stays active, pauses, or disengages when you press the brake.

• Auto Lane Change by Blinker

  Chooses whether lane changes need a steering nudge or begin after a selected delay with the signal on. Check that the lane is clear yourself.

• Auto Lane Change: Delay with Blind Spot

  Adds a lane-change delay when supported blind-spot monitoring detects a vehicle.

• Torque Control Tune Version

  Selects which version of the steering-force settings to use.

• Self-Tune

  Lets the steering-force controller learn settings for a supported car.

• Less Restrict Settings for Self-Tune (Beta)

  Uses less restrictive learning conditions for steering self-tuning. This is a beta option.

• Enable Custom Tuning

  Allows custom steering-force settings instead of the supplied values.

• Manual Real-Time Tuning

  Uses fixed custom steering-force values instead of values learned by self-tuning.

• Lateral Acceleration Factor

  Adjusts the factor used by custom steering-force control.

• Friction

  Adjusts compensation for steering friction in the custom steering-force settings.

• Speed Limit

  Chooses speed-limit information, warnings, or speed assistance. Assistance depends on vehicle support.

• Customize Source

  Opens Customize Source.

• Speed Limit Offset

  Chooses whether to use the posted limit directly or apply a fixed or percentage adjustment.

• Speed-limit offset amount

  Sets the amount added to or removed from the speed limit.

• Speed Limit Source

  Chooses vehicle speed-limit data, downloaded map data, or how the two are combined.

• BluePilot Portal Features

  Lists the Portal pages available in the browser.

• Route Statistics

  Displays saved-drive statistics from the local Portal when it is reachable.

• GitHub Runner Service

  Enables the GitHub runner development service.

• Quickboot Mode

  Uses a prebuilt-file shortcut to speed startup on eligible development setups.

• Error Log

  Opens the device crash log for troubleshooting.

• Force Offroad Mode

  Keeps the device in its offroad state instead of allowing driving assistance to engage.

• Language

  Displays the interface language. This entry is read-only in the phone schema.

• Adjust Camera Offset

  Shifts the model’s virtual camera view left or right. This is an advanced adjustment.

• Export settings

  Downloads a backup of the settings marked for backup by BluePilot.

• Import settings

  Restores eligible settings from a BluePilot backup file. Review the result on your comma before driving.