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.

By using openpilot and any hardware described on this wiki, you agree to the Disclaimer.