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dragonpilot vs BluePilot

Guide

openpilot Fork Comparison

Toggle the forks you want to compare. Select any two or more to see how they stack up across features, hardware support, and available branches.

There is no "best fork." Each fork is a different philosophy — stock openpilot is safest and most polished, FrogPilot is the most customizable, sunnypilot has the deepest model library and MADS, dragonpilot stays closest to stock, and vehicle-specific forks (StarPilot, OPGM, BluePilot, OPKR) exist because those cars need them. The joy of openpilot is trying them over time and finding what clicks for your car and driving style. A feature comparison can tell you what exists — only driving tells you what matters.

⚠️ Always try stock openpilot first before switching to a fork. All forks are unofficial and experimental.

Select forks to compare (min 2)

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Comparing:🐉dragonpilot🔵BluePilot

🐉

dragonpilot

Long-running fork. Invented ALKA (2019). Minimal-changes philosophy. C3/C3X/O3 hardware.

↗ GitHub 💬 Discord📦 installer.comma.ai/dragonpilot/dragonpilot/0.10.3

🔵

BluePilot

Ford-focused sunnypilot fork. Blue Cruise lateral rewrite. C3/C3X only.

↗ GitHub 💬 Discord📦 installer.comma.ai/BluePilotDev/bp-5.0

🔵

Fork Spotlight

Built for Ford

A sunnypilot fork with a complete lateral control rewrite for Ford's unique EPAS architecture — fixes the lane weave that plagues stock openpilot on Fords.

🚗 Supported Vehicles

FordF-150 (2021+) · Escape (2020–24) · Escape Hybrid (2020–24) · Bronco Sport (2021–24) · Explorer (2020–24) · Maverick Hybrid (2022+) · Mustang Mach-E (2021+)

✨ What Makes It Different

🔄Ford EPAS Lateral Rewrite

Complete rewrite of Ford's 7-signal IPMA protocol. Fixes the notorious ping-pong lane weave on straights with tunable curvature blending ratios (High and Low Curvature PC sliders).

🛡️Anti-Windup on Manual Turns

Detects when you steer manually and resets the EPAS to zero — prevents the system from fighting you as you straighten out after a turn.

📊Ford-Specific UI Overlays

BlueCruise-style dashboard display, hybrid battery gauges for F-150 PowerBoost and Escape Hybrid, BLIS blind spot indicators from Ford's own sensors.

⚙️Separate Gas & Brake Signals

Converts openpilot's single acceleration output into separate gas and brake signals — produces noticeably smoother acceleration and deceleration on Ford vehicles.

🌐Web Routes Panel

Local browser dashboard at device_ip:8088 with real-time WebSocket updates, multi-camera playback, and full route history browsing.

⚠️ Things to Know

⚠Requires Co-Pilot360 Assist+ (Lane Centering + ACC) — base Co-Pilot360 alone won't work
⚠2020 and older F-150s are NOT supported
⚠Ford's path_angle signal is proprietary — ping-pong on straights is reduced, not fully eliminated
⚠CAN (2021–22) and CANFD (2023+) F-150s need different PID tuning defaults

📦 installer.comma.ai/BluePilotDev/bp-5.0↗ GitHub 💬 Discord

Feature🐉 dragonpilot🔵 BluePilot

comma 4 Support

Whether the fork runs on the comma 4 ($999, launched late 2025). Many community forks are still on comma 3/3X only.

❌ No

comma 3X Support

comma 3X is the current recommended device for most community forks.

✅ Yes

comma 3 (C3) Support

stock openpilot dropped C3 in v0.10.0 (Aug 2025). Several forks re-added or maintained support. sunnypilot C3 (TICI): no stable branch yet. Use staging-tici (install.sunnypilot.ai/staging-tici). C3 support is maintenance-mode — C3X (TIZI) is the actively supported platform.

✅ Yes

Feature🐉 dragonpilot🔵 BluePilot

Always On Lateral (AOL / MADS)

Steering assist stays active even when you touch the brake or accelerator.

✅ Yes

Auto Lane Change

Automatically changes lanes when blinker is activated.

✅ Yes

Auto Lane Change Timer

Configurable delay before lane change — no steering nudge required.

✅ Yes

Increased Steering Torque

Higher torque on select vehicles for better lane holding. Note: 2018–22 Honda Accord already runs at hardware max torque (4096) in stock openpilot — the real upgrade for Honda owners is NNFF/NNLC neural network lateral control, not the torque cap.

ℹ️ Select vehicles

Neural Network Lateral Control (NNLC/NNFF)

Neural network trained per-vehicle EPS firmware. Smoother, more accurate steering. Originated by @twilsonco.

❌ No

✅ Yes

Feature🐉 dragonpilot🔵 BluePilot

Conditional / Dynamic Experimental Mode

Auto-switches Chill/Experimental mode based on road context. FrogPilot: CEM. SunnyPilot: DEM.

✅ Yes

Speed Limit Control (SLC)

Auto-adjusts cruise speed to posted limits using map data and/or car interface.

✅ Yes

Vision Turn Speed Control (V-TSC)

Slows before corners using vision model.

✅ Yes

Map Turn Speed Control (M-TSC)

Slows before corners using OSM map data.

✅ Yes

Driving Personalities / Profiles

Named profiles (Traffic, Aggressive, Standard, Relaxed) with tunable following/acceleration.

✅ Yes

Gap Adjust Cruise (GAC)

Change following distance on-the-fly via steering wheel gap button.

✅ Yes

Traffic / Maniac Mode

Aggressive stop-and-go profile. FrogPilot: Traffic Mode. SunnyPilot: Maniac Mode.

❌ No

✅ Yes

Human-Like Accel / Braking Profiles

Tuned acceleration and braking curves that feel more natural than stock. FrogPilot: 'Human-Like Acceleration' (faster pull) and 'Smoother Braking' — configurable per personality profile. StarPilot: GM-specific VoACC tuning plus inherited human-like accel/braking profile controls. sunnypilot/others: follow stock openpilot longitudinal model without additional tuning layers.

❌ No

Lead Detection Tuning & Adjacent Lead Tracking

Customizable lead car detection sensitivity and adjacent lead tracking during lane changes. FrogPilot and StarPilot: adjustable detection thresholds (detect leads sooner/farther), plus Adjacent Lead Tracking — when changing lanes, it tracks the speed of the new lane's lead and smoothly adapts before the lane change completes. Most forks use stock openpilot detection with no tuning.

❌ No

Per-Range Speed Limit Offsets

Set different speed offsets for each speed limit range (e.g., +5 at 25 mph, +7 at 45 mph, +10 at 65 mph). FrogPilot and StarPilot: configurable offset per major speed range. sunnypilot: single flat % offset applied globally. dragonpilot/OPKR: flat offset or none. More granular = more natural real-world cruising.

❌ No

Learning Curve Speed Controller

A curve speed system that learns your preferred speed through curves over time — not just a fixed slowdown factor. FrogPilot: CSC adapts to your actual inputs and trains from your driving behavior. StarPilot: CSC included and actively used. V-TSC/M-TSC in other forks use fixed thresholds without learning.

❌ No

Feature🐉 dragonpilot🔵 BluePilot

Offline Maps

Download map regions for offline speed limit and road data.

✅ Yes

Speed Limit Sources

Where speed limit data comes from.

OSM + Car

OSM + Car + HDA

Feature🐉 dragonpilot🔵 BluePilot

Custom Themes

Cosmetic customization: icon packs, color schemes, sound packs, steering wheel icons. FrogPilot/StarPilot: full theme system with Theme Maker. dragonpilot: basic. sunnypilot: no theme system — visual options are functional overlays only (rainbow path, blind spot indicators, etc.), not cosmetic themes.

✅ Yes

Holiday / Seasonal Themes

UI that automatically changes for holidays.

❌ No

Weather Detection

Detects weather conditions and adjusts behavior accordingly.

❌ No

Driving Model Selector

Choose AI driving models. sunnypilot: 86+ models via Driving Model Manager (DMM). FrogPilot: Model Manager. dragonpilot: Model Selector.

✅ Yes

Quiet Drive Mode

Mute all non-safety notification sounds.

✅ Yes

Advanced Live Tuning

Adjust lateral/longitudinal parameters in real time while driving.

Fun Extras (Rainbow Path, Visual Effects)

Animated rainbow-colored drive path and fun visual effects. FrogPilot/StarPilot: Rainbow Path + Random Events (Mario Kart-style). sunnypilot/BluePilot: Rainbow Path (animated cycling gradient) + Rocket Fuel (green/red acceleration bar). dragonpilot: Rainbow Path.

✅ Yes

Feature🐉 dragonpilot🔵 BluePilot

Comma Connect

Remote monitoring, clips, and logs via Comma Connect.

✅ Yes

Fleet Manager / Web Interface

Local browser-based access to dashcam footage and logs. FrogPilot: The Pond (device_ip:8082). StarPilot: The Pond + Model Manager (added Mar 2026). BluePilot: Web Routes Panel (device_ip:8088) with real-time WebSocket updates, multi-camera playback, and route browsing. sunnypilot: community tools via SunnyLink.

❌ No

✅ Yes

Own Web App / Dashboard?

Fork provides its own web platform beyond Comma Connect. sunnypilot: SunnyLink — remote access, model library, settings backup/restore. dragonpilot: dpWeb. BluePilot: Web Routes Panel (port 8088). StarPilot: Galaxy — remote pairing + access via URL, added Mar 2026.

✅ Yes

Feature🐉 dragonpilot🔵 BluePilot

Stable / Release Branch

Recommended for daily use.

0.10.3 → installer.comma.ai/dragonpilot/dragonpilot/0.10.3

bp-5.0 → installer.comma.ai/BluePilotDev/bp-5.0

Staging / Beta Branch

Preview upcoming features with some risk.

testing → installer.comma.ai/dragonpilot/dragonpilot/testing

check GitHub

Development / Alpha Branch

Bleeding-edge. Breaks often. Not for daily use.

testing → installer.comma.ai/dragonpilot/dragonpilot/testing

check GitHub

A few notes

⚠️ All forks are unofficial. Comma.ai does not support or endorse them.
⚠️ Feature support changes frequently — always verify on each fork's GitHub.
⚠️ "Partial" means the feature exists in a limited or different form.
🧪 ADAS is not self-driving. Always pay attention.
📦 comma 4 launched late 2025. As of March 2026: stock openpilot has full C4 support. sunnypilot has dev/staging C4 branches. StarPilot supports C4 on the same installer as C3/C3X (first fork to cover all three — C4 still beta). FrogPilot, dragonpilot, BluePilot, and OPKR are C3/3X only. OPGM C4 status is unconfirmed.
🔄 sunnypilot: C3X stable at release.sunnypilot.ai (release-tizi). C3 has staging-tici only (no stable yet). C4 stable (release-mici) coming soon. staging/dev branches are unified for C3X+C4.
🔄 FrogPilot's The Pond (local web dashboard) is reportedly transitioning to a cloud-based platform similar to SunnyLink — not yet live as of early 2026, check the FrogPilot Discord for updates.
🐉 dragonpilot GitHub moved to github.com/dragonpilot/dragonpilot
BluePilot, OPKR, OPGM, and StarPilot are vehicle-specific forks — toggle them in to compare.
⭐ StarPilot is an openpilot fork for GM/Bolt drivers. Originally started within the FrogPilot Universe, it has since branched off in its own direction. Supports C3, C3X, and C4 on a single installer: installer.comma.ai/firestar5683/StarPilot

sunnypilot guide →FrogPilot guide →dragonpilot guide →StarPilot guide →Installation guides →