Installing openpilot#

This guide explains how to install the xnor fork of openpilot on your comma device.

New Installation#

If your comma device is fresh out of the box or has been factory reset:

  1. Power on your comma device and wait for the setup screen.
  2. When prompted, select Custom Software (Advanced).
  3. Enter the installation URL for your device and car (see Available Versions below).
  4. Tap Install and wait for the download and installation to complete. This may take a few minutes depending on your connection.
  5. Once installed, the device will reboot and start openpilot.
  6. Follow the on-screen training guide to complete the initial calibration.

Switching from Another Version#

If your device already has a different version of openpilot installed:

  1. Go to Settings → Software.
  2. Tap Uninstall to remove the current software.
  3. The device will reboot to the setup screen.
  4. Follow the New Installation steps above.

Factory Reset#

If something goes wrong during installation, you can reset your device:

  1. Reboot your comma device.
  2. As soon as the comma logo appears, tap the screen at least 3 times.
  3. The factory reset screen will appear — follow the on-screen prompts.
  4. After the reset, follow the New Installation steps above.

For a complete reflash (if the device is unresponsive or the above doesn’t work), connect your device to a computer via USB and use flash.comma.ai.

Available Versions#

These branches come precompiled and install significantly faster — no on-device build step required.

Version Device Car Installation URL
xnor comma four, comma 3X Tesla Model S/3/X/Y (HW1–HW4), MG 5 EV, MG ZS EV https://smiskol.com/fork/xnor-tech/xnor
xnor-c3 comma three (deprecated) Tesla Model S/3/X/Y (HW1–HW4), MG 5 EV, MG ZS EV https://smiskol.com/fork/xnor-tech/xnor-c3
tesla-unity comma three, comma 3X Tesla preAP Model S https://smiskol.com/fork/xnor-tech/tesla-unity

Development (source)#

These are the development branches. They compile on-device after installation, which takes longer.

Version Device Car Installation URL
xnor-dev comma four, comma 3X Tesla Model S/3/X/Y (HW1–HW4), MG 5 EV, MG ZS EV https://smiskol.com/fork/xnor-tech/xnor-dev
xnor-c3-dev comma three (deprecated) Tesla Model S/3/X/Y (HW1–HW4), MG 5 EV, MG ZS EV https://smiskol.com/fork/xnor-tech/xnor-c3-dev

The comma four does not support preAP Teslas. For preAP, use a comma three or comma 3X with the tesla-unity version.

For more details, see the GitHub repository.

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