Learned steering control in sunnypilot

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

• Dynamic Experimental Control

  Automatically chooses between sunnypilot 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.

• GitHub Runner Service

  Enables the GitHub runner development service.

• Joystick Debug Mode

  A development tool for testing control inputs.

• Quickboot Mode

  Controls the prebuilt-file shortcut used for faster startup on eligible custom software setups.

• 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 sunnypilot 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.

• 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.

• 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 sunnypilot 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 sunnypilot 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 sunnypilot 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 sunnypilot accelerates and brakes. The sunnypilot 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 sunnypilot 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 Camera Offset

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

• 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 sunnypilot 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.

• Speed Limit Assist Mode

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

• Speed Limit Offset Type

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

• Speed Limit Offset Value

  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.

• Vision

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

• 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.

• Lane-change delay for blind-spot warnings

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

• 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.

• Enable Custom Tuning

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

• 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.

• Friction

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

• Sideways acceleration factor

  Adjusts the factor used by custom steering-force control.

• Less restrictive self-tuning (Beta)

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

• Manual Real-Time Tuning

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

• Minimum speed for turn-signal steering pause

  Sets the speed threshold for the turn-signal steering 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.

• Self-Tune

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

• Steering Mode on Brake Pedal

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

• 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.

• Steering-force control version

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

• 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.

• Cooperative Steering (Beta)

  Controls the beta cooperative-steering option for supported Tesla configurations.

• Custom acceleration and braking settings

  Selects the available custom acceleration-and-braking tuning for an eligible Hyundai, Kia or Genesis.

• Use factory acceleration and braking control

  Keeps acceleration and braking under the factory Toyota cruise system.

• No vehicle selected

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

• Stop and Go (Beta)

  Enables the beta stop-and-go option on eligible Subaru vehicles.

• Stop-and-go with a manual parking brake

  Enables the beta stop-and-go option for eligible Subaru vehicles with a manual parking brake.

• Stop and Go Hack (Alpha)

  Enables experimental automatic resume for certain Toyota or Lexus stop-and-go configurations.