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OPKR vs OPGM
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:🇰🇷OPKR🚙OPGM
🇰🇷
OPKR
Korean HKG fork. On-screen tuning. SmartMDPS. 6 cruise modes.
🇰🇷
Fork Spotlight
Built for Hyundai · Kia · Genesis
A Korean HKG fork with 6 cruise modes, SmartMDPS (steer to 0 mph), and deep live tuning from the touchscreen — no SSH, no coding required.
🚗 Supported Vehicles
HyundaiSonata (2018–22) · Sonata Hybrid (2021–22) · Palisade (2020–21) · Santa Fe (2019–22) · Santa Fe Hybrid/PHEV (2022) · Elantra (2021–22) · Elantra Hybrid (2021) · Kona / Kona Electric / Kona Hybrid (2018–20) · Ioniq Electric / Hybrid / PHEV (2020–22)
KiaTelluride (2020) · Niro Electric (2019–22) · Niro Hybrid (2021–22) · K5 (2021–22) · Forte (2018–21) · Stinger (2018) · Seltos (2021) · Ceed (2019) · Optima (2019) · Sorento (2018–19)
GenesisG70 (2018, 2020) · G80 (2018)
✨ What Makes It Different
🎛️6 Cruise Modes
Toggle at cruise standby with the GAP button: OpenpilotStock · Dist+Curv (distance + curve-aware) · Dist only · Curv only · OneWay (road-edge hugging) · CamSpeed (speed from camera/map signs only).
🏎️SmartMDPS — Steer to 0 mph
Full steering control down to a complete stop on HKG MDPS vehicles. Stock openpilot loses steering authority at low speeds — OPKR keeps it active all the way to 0.
📱On-Screen Live Tuning
Tap the steering wheel icon on-device to open a real-time lateral tuning panel (PID/INDI/LQR/Torque). Changes apply instantly while driving — no SSH or file editing ever needed.
📷Speed Camera Integration
Reads in-car SafetyCAM CAN data + OSM speed limits + Mappy/Waze data to auto-decelerate before cameras and enforce limits. Offline OSM available for 64GB devices.
🔁Smooth HKG Stop-and-Go
Cruise button spamming + variable SCC creates smoother stop-and-go than stock HKG ACC. Auto-resume when lead car moves; auto re-engagement after brake release.
🎨Rich HKG UI
Variable color speed display (red=braking · green=accelerating), BSM overlays, RPM animation, road name, IP/carrier/signal strength, auto screen record on departure.
⚠️ Things to Know
- ⚠Fork activity has slowed since ~2023 — may lag behind newest openpilot versions and 2024+ HKG models
- ⚠Comma 4 support unconfirmed — documented for comma 2/3/3X only
- ⚠Offline OSM Korea only works on 64GB storage devices
- ⚠Data uploads to OPKR server by default — change in settings if preferred
- ⚠OPKR_test branch is explicitly unstable — not for daily drivers
Feature🇰🇷 OPKR🚙 OPGM
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 4 support is in progress. Some GM-specific features require testing on C4 hardware.
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.
✅ Yes
✅ Yes
Feature🇰🇷 OPKR🚙 OPGM
Always On Lateral (AOL / MADS)
Steering assist stays active even when you touch the brake or accelerator.
✅ Yes
❌ No
Auto Lane Change
Automatically changes lanes when blinker is activated.
✅ Yes
❌ No
Auto Lane Change Timer
Configurable delay before lane change — no steering nudge required.
✅ Yes
❌ No
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
❌ No
Neural Network Lateral Control (NNLC/NNFF)
Neural network trained per-vehicle EPS firmware. Smoother, more accurate steering. Originated by @twilsonco.
❌ No
❌ No
Feature🇰🇷 OPKR🚙 OPGM
Conditional / Dynamic Experimental Mode
Auto-switches Chill/Experimental mode based on road context. FrogPilot: CEM. SunnyPilot: DEM.
✅ Yes
❌ No
Speed Limit Control (SLC)
Auto-adjusts cruise speed to posted limits using map data and/or car interface.
✅ Yes
❌ No
Vision Turn Speed Control (V-TSC)
Slows before corners using vision model.
✅ Yes
❌ No
Map Turn Speed Control (M-TSC)
Slows before corners using OSM map data.
✅ Yes
❌ No
Driving Personalities / Profiles
Named profiles (Traffic, Aggressive, Standard, Relaxed) with tunable following/acceleration.
✅ Yes
❌ No
Gap Adjust Cruise (GAC)
Change following distance on-the-fly via steering wheel gap button.
✅ Yes
❌ No
Traffic / Maniac Mode
Aggressive stop-and-go profile. FrogPilot: Traffic Mode. SunnyPilot: Maniac Mode.
Has an aggressive "Traffic" cruise mode for heavy traffic scenarios, but it is more conservative than FrogPilot Traffic Mode.
❌ No
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.
Custom acceleration curves available but fewer presets than FrogPilot. Requires manual tuning for best results.
❌ 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.
Speed offset by range supported but UI is in Korean by default and settings are less intuitive than sunnypilot.
❌ 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🇰🇷 OPKR🚙 OPGM
Offline Maps
Download map regions for offline speed limit and road data.
✅ Yes
❌ No
Speed Limit Sources
Where speed limit data comes from.
OSM + CamSpeed + Car
None
Feature🇰🇷 OPKR🚙 OPGM
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.
Custom colors and some UI theming available, but no full theme packs like FrogPilot The Pond. Korean UI by default.
❌ No
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
❌ No
Quiet Drive Mode
Mute all non-safety notification sounds.
✅ Yes
❌ No
Advanced Live Tuning
Adjust lateral/longitudinal parameters in real time while driving.
✅ Yes
❌ No
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
❌ No
Feature🇰🇷 OPKR🚙 OPGM
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
❌ No
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
❌ No
Feature🇰🇷 OPKR🚙 OPGM
Stable / Release Branch
Recommended for daily use.
OPKR → opkr.o-r.kr/fork/opkr
release → installer.comma.ai/opgm/release
Staging / Beta Branch
Preview upcoming features with some risk.
OPKR_test → opkr.o-r.kr/fork/test
nightly → installer.comma.ai/opgm/nightly
Development / Alpha Branch
Bleeding-edge. Breaks often. Not for daily use.
check GitHub
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