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openpilot 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:🔵openpilot🔵BluePilot
🔵
openpilot
Official comma.ai release. comma 4 + 3X. comma 3 dropped in v0.10.0.
🔵
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
Feature🔵 openpilot🔵 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.
✅ Yes
❌ No
comma 3X Support
comma 3X is the current recommended device for most community forks.
✅ Yes
✅ 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.
❌ No
✅ Yes
Feature🔵 openpilot🔵 BluePilot
Always On Lateral (AOL / MADS)
Steering assist stays active even when you touch the brake or accelerator.
❌ No
✅ Yes
Auto Lane Change
Automatically changes lanes when blinker is activated.
ALC is available but requires hands on wheel and a turn signal hold. No auto-confirm or hands-free option unlike some forks.
✅ Yes
Auto Lane Change Timer
Configurable delay before lane change — no steering nudge required.
❌ No
✅ 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.
❌ No
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🔵 openpilot🔵 BluePilot
Conditional / Dynamic Experimental Mode
Auto-switches Chill/Experimental mode based on road context. FrogPilot: CEM. SunnyPilot: DEM.
❌ No
✅ Yes
Speed Limit Control (SLC)
Auto-adjusts cruise speed to posted limits using map data and/or car interface.
Speed limit data shown on UI but the fork does not automatically adjust cruise speed to match. Manual only.
✅ Yes
Vision Turn Speed Control (V-TSC)
Slows before corners using vision model.
Basic curve slowdown via map data on some vehicles, but not the full vision-based predictive slowing found in FrogPilot/sunnypilot.
✅ Yes
Map Turn Speed Control (M-TSC)
Slows before corners using OSM map data.
❌ No
✅ Yes
Driving Personalities / Profiles
Named profiles (Traffic, Aggressive, Standard, Relaxed) with tunable following/acceleration.
Three built-in profiles (Aggressive/Standard/Relaxed) but limited per-profile customization compared to forks.
✅ Yes
Gap Adjust Cruise (GAC)
Change following distance on-the-fly via steering wheel gap button.
Follow distance adjustable via UI (1-5 bars) but not the granular per-personality gap control found in FrogPilot or sunnypilot.
✅ 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
❌ 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
❌ 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
❌ 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
❌ No
Feature🔵 openpilot🔵 BluePilot
Offline Maps
Download map regions for offline speed limit and road data.
❌ No
✅ Yes
Speed Limit Sources
Where speed limit data comes from.
Connect only
OSM + Car + HDA
Feature🔵 openpilot🔵 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.
❌ No
Inherits FrogPilot theme system but Ford-specific UI elements are not fully themed. Some icons/colors may be stock.
Holiday / Seasonal Themes
UI that automatically changes for holidays.
❌ No
❌ No
Weather Detection
Detects weather conditions and adjusts behavior accordingly.
❌ No
❌ No
Driving Model Selector
Choose AI driving models. sunnypilot: 86+ models via Driving Model Manager (DMM). FrogPilot: Model Manager. dragonpilot: Model Selector.
❌ No
✅ Yes
Quiet Drive Mode
Mute all non-safety notification sounds.
❌ No
✅ Yes
Advanced Live Tuning
Adjust lateral/longitudinal parameters in real time while driving.
❌ No
Ford-specific lateral tuning accessible, but longitudinal live tuning limited compared to sunnypilot.
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.
❌ No
✅ Yes
Feature🔵 openpilot🔵 BluePilot
Comma Connect
Remote monitoring, clips, and logs via Comma Connect.
✅ Yes
✅ 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.
❌ No
✅ Yes
Feature🔵 openpilot🔵 BluePilot
Stable / Release Branch
Recommended for daily use.
release3 → installer.comma.ai/commaai/release3
bp-5.0 → installer.comma.ai/BluePilotDev/bp-5.0
Staging / Beta Branch
Preview upcoming features with some risk.
nightly → installer.comma.ai/commaai/nightly
check GitHub
Development / Alpha Branch
Bleeding-edge. Breaks often. Not for daily use.
master → installer.comma.ai/commaai/master
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