xnor wiki#

Hey! I’m Lukas — founder of xnor. Some of you might know me as lukasloetkolben on GitHub and Discord.

Background#

In late 2023 I started porting openpilot to the Tesla Model 3 (HW3). By late 2024 I successfully upstreamed Tesla Model 3 and Model Y support to comma.ai’s openpilot, which shipped officially in release 0.9.9. I also ported the Rivian R1T and R1S (Gen 1) to openpilot and won the COMMA_HACK hackathon as a result — that port shipped upstream in release 0.9.8. In late 2025 I wrote support for the MG 5 EV and now also support the MG ZS EV.

The original Tesla openpilot integration was created by BogGyver through the Tinkla project, supporting pre-AP, AP1, and AP2 Model S and Model X. When BogGyver left the community and stopped maintaining the Tesla software, I picked up the work — recreating the hardware and harnesses from scratch, and expanding support to cover all Tesla hardware generations from pre-AP through HW4.

Today, xnor supports every Tesla Model S, 3, X, and Y as well as Rivian, MG, and other vehicles. All hardware is available at xnor.shop.

To get started, head to Installing openpilot or browse the sidebar for your specific car.

Community#

For questions, feedback, or support, join the xnor community Discord.

Before installing or using openpilot or any hardware described on this wiki, please read the Disclaimer. All content on this wiki is provided for illustrative and informational purposes only — see the Disclaimer for what that means for use on public roads.