OPKR
2 listed versions
Show listed versions
- OPKR · stable
- OPKR_test · development
Devicescomma 2
comma 2
Treat comma 2 as a legacy device.
Use older-device guides and recovery help. Current software should not be assumed to support comma 2.
Software listed for comma 2
Open a project to see what it changes, then confirm the exact version before installing.
View
Technical notes and limitations
comma's hardware record identifies comma 2 as a January 2020 Snapdragon 821 device and openpilot 0.8.13 as its final documented version.
Choose one of four following gaps, with configurable time gaps and optional speed-dependent following time. Legacy numeric time-gap controls; not current Relaxed/Standard/Hurry driving personalities. Requires the OPKR longitudinal planner and supported vehicle.
- opkr selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py exact capability source
- opkr selfdrive/controls/lib/longitudinal_planner.py exact capability source
- opkr selfdrive/manager/manager.py exact capability source
- opkr selfdrive/ui/qt/widgets/opkr.cc exact capability source
- opkr selfdrive/ui/qt/widgets/opkr.h exact capability source
OPKR source exposes configurable lane-change speed, delay and timing; its desire helper applies active-control, blinker, minimum-speed, blindspot, road-edge and torque-or-delay conditions.
Manually turn legacy end-to-end speed planning on or off in Long Control settings. Legacy E2E Long differs from current stock Experimental mode. Requires OPKR longitudinal control; source warns behavior may be unexpected.
- opkr selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py exact capability source
- opkr selfdrive/controls/lib/longitudinal_planner.py exact capability source
- opkr selfdrive/manager/manager.py exact capability source
- opkr selfdrive/ui/qt/widgets/opkr.cc exact capability source
- opkr selfdrive/ui/qt/widgets/opkr.h exact capability source
UFC offers full-time steering with Cruise Main on for the reviewed older Hyundai, Kia and Genesis setup.
Sources and details
Released
Checked Aug 19, 2026
Photos: comma.ai. Logos belong to their projects. CommaGuide is an independent guide.