Rivian R1T / R1S (Gen 1)#
Rivian R1T and R1S (Gen 1) are officially supported by upstream openpilot. The Rivian port was created by Lukas and shipped upstream in release 0.9.8.
Driver+ vs. openpilot#
| Feature | Driver+ | openpilot |
|---|---|---|
| Operational domain | Restricted to mapped roads (geofenced) | Not map-restricted |
| Driver Monitoring | Steering wheel torque | Camera-based |
Both function as Level 2 driver assistance systems — they assist with steering, acceleration, and braking while requiring driver engagement and readiness to take control at all times. Neither is an autonomous driving system: you must remain attentive and in full control of the vehicle at all times. See the Disclaimer regarding intended use and legality in your jurisdiction.
What You Need#
Required#
| Component | Notes |
|---|---|
| comma four or comma 3X | The comma four no longer needs the 8-degree mount |
| Rivian Gen 1 Harness Kit | Includes 8’ USB-C 3.1 cable. Also available from comma.ai. |
| Fuse Tap Adapter | Included with xnor harness. Alternative: comma Power OBD-II harness. |
Optional#
| Component | Notes |
|---|---|
| Longitudinal Upgrade Kit | Replaces Rivian ACC with openpilot longitudinal control. Supported by sunnypilot only. Enables set speed via steering wheel buttons, driving personalities via scroll wheel, and auto lane changes with blind spot monitoring. |
| Magnetic mount | For quick release — prevents theft and keeps unit cool. Options: Beartech Magmount, Chun Quick Mount, Janka Cross Glide Mag Mount |
| OP Rivian T-Shirt | For the comma 3X |
Quick Start#
- Get a comma four (or comma 3X) and a Rivian Gen 1 Harness Kit
- Put your Rivian to sleep mode before installation
- Install the harness at the Autonomy Experience Module (AXM)
- Set up power via fuse tap or comma Power
- Route cables and mount the comma device
- Install openpilot — the stock upstream version supports your car
- For longitudinal control and MADS, see Sunnypilot & Longitudinal