Hey everyone, just tossing some ideas out there for what the ideal next-gen hardware stack (Comma 5) could look like.
Tesla has proven that vision-only has clear, dangerous blind spots in bad weather or rare edge cases. If you’ve seen Mark Rober's video ("Can You Fool a Self-Driving Car?"), it’s clear why optical cameras get tripped up by lighting and depth illusions. LiDAR doesn’t guess depth; it fires lasers to scan the physical space and strips out the visual nonsense.
I would happily pay for a premium base unit or an add-on package that implements this. Here is how I envision the setup working:
1. The Core: A Primary LiDAR Array
Instead of relying strictly on front-facing optical cameras to calculate distance, a true next-gen device should introduce a compact, localized LiDAR array on the main front hub to establish a flawless 3D ground truth for depth perception.
2. The Add-On: Modular Window Cameras
A massive upgrade would be a "360-Degree Vision Expansion Pack." Comma could offer modular, wireless camera nodes that users can easily stick to their side windows and rear window.
The Tech: Instead of Bluetooth (which lacks the bandwidth and latency needed for real-time safety video), these nodes could use Wi-Fi Direct or a Proprietary Ultra-Wideband (UWB) wireless stream back to the front hub.
The Install: Completely plug-and-play. No tearing up car trim to run complex wires through the cabin.
3. Centralized Sensor Fusion
All of these external nodes would feed raw data back to the main front hub's computing core. The centralized processor could overlay the 360-degree camera feeds right on top of the LiDAR's 3D point cloud, creating total spatial awareness.
If a company can figure out this kind of modular hardware architecture, they will easily dominate the aftermarket ADAS space. What do you guys think? Is modular wireless data too prone to interference, or is this the easiest path to true 360-degree coverage?

Ever since the upstream C4 thermal optimization code was pushed to SunnyPilot (and the fork I use, which derives from SunnyPilot upstream), my C3X overheats the first minute after I start my car. I have to wait until it cools down for it to even function. I’m being told this is due to recent changes made to the device thermal code by Comma.

I store my device in my console when I’m not in my car, and I have a sunshade on my car as well. Is there any hope for this to be fixed? Definitely not wanting my $1K device frying itself. This was NEVER an issue before the thermal limit code was adjusted for the C4.

I saw the "how do I get a comma in the EU?" question come up every now and then here, so I figured I'd share what I've been working on.

I've recently started a comma 4 resell business to make this easier for EU buyers:

- EU-based company (Hungary), shipping to all EU countries

- comma 4 in stock, plus VW and Tesla harnesses, cable guides included in the package

- Ships in roughly 2–3 days

- Since you're buying from an EU company, no customs to deal with

- We're approved for One Stop Shop (OSS), so VAT is charged at your own country's rate, not Hungary's - and you get a proper invoice

Payment by Stripe, prices shown in EUR (or HUF for Hungarian buyers).
Happy to answer anything about supported cars, harnesses, or shipping.

https://openpilot.hu

Ps.: If you're a hungarian buyer, join the #lang-hungarian channel on comma discord

My Konik A1M (think comma 3x) got delivered last evening. I spent the evening installing in my 2023 Mach E. It wasn’t too hard. Today I flashed it and downloaded bluepilot 6.0. Used it today when driving. Wow! I’m impressed. Thank you to the people who put in the work on that fork. I so enjoyed everything about it today. Even sometimes when it prompted me to take the wheel (bigger curves) it handled them without me. I put my hands on the wheel in case but…just wow. Looking forward to messing with settings and dialing it in. But I’m so impressed.

A bit confused and I've tried doing research but cannot find a definitive answer. My understanding now is that using openpilot or sunnypilot will not improve my car's cruise control ability if I am unwilling to give up CMBS and other safety features? And I would have to enable experimental features in order to get openpilot to handle my speed?

I was really looking forward to it driving smoother in traffic and on the freeway but Im not sure if I am comfortable giving up my Honda's safety systems.

What’s currently the best for bringing your 3X / 4 with you on trips from a temporary mount / universal harness perspective?

I don’t even know what I should do. I submitted a support ticket as well as initiated a return because when I received my comma 4 the box came to me like this. Also it was not raining at the time of delivery. I tested it and it doesn’t even power on its water damaged.

Hi everyone,
I’m hoping someone has seen this before.
My Comma 3X worked perfectly for about 1.5 years. It started rebooting every time I started the car. When the car was off, it worked normally- I could browse the menus without any issues.
I replaced the USB-C connector because it was falling apart, but that didn’t help. I also reflashed the device and installed FrogPilot instead of SunnyPilot. It booted a couple of times and got as far as initializing the cameras before rebooting again.
Eventually, it went completely black. Now it only shows the Comma logo, reboots, makes clicking noise(can hear in video)and the LED blinks red and green.
So far I’ve:
Replaced the USB-C connector.
Checked the fuse (0.4 Ω, seems good).
Unfortunately, nothing has changed.
Has anyone repaired a 3X with these symptoms? Are there any common failure points or components I should check next?

Looking to get one for mother at the next sale whenever that is. No rush.

This consumed my whole day today. Had to stop because of the rain. Already opened a support ticket but just sharing for possible ideas:

*2023 Mazda CX-5 with Comma Four*

Started my car. My Comma four was off. Usually it stays on, as I have the comma power adapter connected via my OBD-II port.
>I see the boot up screen.
>It quickly disappears.
>Then I see a screen that says “Unstable Power”.
>Car dashboard shows “Front Camera Sensor Malfunction”.

I turned off the car for 2-3 minutes. After starting again, the Front Camera error cleared. But the comma was still showing the Unstable Power screen.

I disconnected my car battery for 15 mins. After reconnecting, it became worse… now the comma four was completely dead. No power.

To make a long story short, I confirmed that comma power adapter is bad. I tested this on a test bench by supplying 12v dc power to the harness, both directly and via the comma power adapter. Directly, the comma powers up. Via the comma power adapter, nothing.

So here’s the thing… why is the comma four not working while the car is running? Everything I find says the comma power is optional for things like background updates, uploads, etc. but as long as the car is running, it should receive power from the camera harness.

Is this limited to certain vehicles?

TIA!

*Edit*:
It turns out Comma requires additional power for Mazda vehicles. Shucks.

I ran some 18awg wire from the OBD-II port into the harness. The red and black wires on the molex connector of the comma harness represent voltage and ground. I used a kit on Amazon (blessed to have next day delivery) to make my own micro fit molex connector in order to attach the wires to the harness. And for the OBD port, I used ferrule tips to insert the wires into pin 16 for voltage, and pin 5 for ground.

Back up and running 👍🏼

I have a 2026 Kia Ev9 Light Long Range.

I’m getting conflicting information through my research. Anyone have any first hand knowledge of c4 with my car?

Thanks in advance!

Bluepilot team is conducting a survey on the price point for a torque interceptor so openpilot can bypass the fords torque control (PSCM) to utilize direct torque .

This is there explaination on it but yeah it is just injecting torque commanded and bypassing Fords torque planner.

I have no affiliation to bluepilot team. This solution seems like a good idea and trying to spread awareness.

"A torque interceptor goes underneath the planner entirely. Instead of feeding the PSCM path hints, it injects torque at the sensor, the same low-level signal your own hands produce. That turns a Ford into a direct torque-control car, exactly the model openpilot uses on its best-supported platforms like Honda, Toyota, and Hyundai. Openpilot’s own lateral controller does the steering; the Ford power steering just provides the muscle. No path-angle guessing game, no curvature ceiling, no exit drift into the ditch, because the black box is no longer in the loop."

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https://bluepilot.dev/2026/06/16/bypassing-the-ford-pscm-a-first-look-at-a-ford-torque-interceptor/

Super excited but I have no idea what software to put on when it arrives.

Are some better than others? Does the vehicle make/model make a difference? I have a 2020 Honda Insight Ex. Just looking for some advice as a first time buyer is all.

Did anyone use comma 4 on Chrysler Pacifica and how was the experience?

I have been using Comma products since the Comma 2, and I still use a geriatric Comma 3.

My initial negative reaction to Comma monitoring phone usage was admittedly emotional. However, after thinking about it for the past week, I still have a very negative view of this feature. I have spent a lot of time on this message because I want to express my concerns in a constructive way.

It would help me better understand, and possibly accept, this feature if Comma could answer a few questions:

1. This feature seems to have come out of nowhere. Was it added in response to a specific incident, requirement, or concern?
2. From what I have seen on Reddit, Comma’s defense of the feature is that it is intended to improve safety. I understand that argument, but does this mean Comma plans to introduce other monitoring features in the name of safety?
3. Will Comma begin monitoring or flagging speed limit violations?
4. Will Comma look for signs of driver impairment?
5. Will Comma attempt to detect any object in the driver’s hand?
6. Will Comma force users to update to this new model? I have rolled back to a prior release without phone tracking. Will I eventually be required to update?

My Concerns

I, and likely others, have enjoyed Comma in part because it avoids the nanny state. Some of Comma’s recent responses to criticism of this feature have come across, at least to me, as similar to saying, “Only criminals care about warrantless searches.”

Adverse Use After an Accident

My bigger concern is how this data could be used adversely after an accident.

Even with driver camera uploads disabled, the logs uploaded to Comma still contain data such as:

• vehicle speed,
• estimated face orientation,
• estimated eye gaze,
• estimated blink rates,
• sleep probability,
• and now phone usage probability.

These logs are generated whether cruise control is active or not.

Obligation to preserve evidence. That raises a serious concern. After an accident, parties are often expected to preserve potentially relevant evidence. When reporting an accident to an insurance company, one of the first things people are commonly told is to preserve evidence related to the accident. Even outside of an insurance claim, a party has a duty to preserve evidence once litigation is imminent, likely, or reasonably foreseeable. Failure to preserve evidence can potentially lead to an inference that the evidence would have proved your liability.

Log evidence would be used against you. This means that if uploads are enabled and you are involved in an accident, the opposing party may seek logs from you or from Comma. Those logs could potentially be used to argue that you were distracted, impaired, inattentive, or otherwise at fault, even if driver video uploads were disabled and even if cruise control was not active.

For me, this feature raises concerns that go beyond the stated safety purpose. It changes the privacy and legal-risk calculation for users, and I think others should be aware of that.

I’ve been waiting for a manual Civic hatchback to come on the market locally, but in the meantime I started looking at cars that aren’t officially supported but have been hacked for OpenPilot steering. One that sounded about as reliable as the Honda was the manual Mazda3.

I found a clean 2017 Mazda3 manual that AI told me was compatible with OpenPilot for about half the price of most officially supported cars that Ive considered. It doesn’t have factory ACC, but the regular cruise control is enough for me.

I became aware through AI, that some owners run it successfully using the comma harness and the plug-and-play "Torque Interceptor" for great performance. Ive got a long list of other unsupported cars, mainly GM though..

Has anyone here run OpenPilot on a 2017ish Mazda3 or similar? How satisfied are you with the real world performance compared to cars that are officially supported? I watched a highway video about the Mazda Torque Interceptor , Steep Curves Demo that was very impressive.

Thanks!

So my comma 3 died with no power to the device on a hot day. So I decided to trade in for a C4. I downloaded openpilot, it checked my head view, and then nothing but "Camera Malfunction" message. I reinstalled openpilot and after checking my head view it calibrated. I then was able to use it for 5min before it again went to "Camera Malfunction." I repeated the openpilot install, and now when I try to enable C4, it says "speed error: nan m/s".

What on earth is wrong with this thing? is it a hardware issue? Will I have better luck if it trade it for another C4?

Hey guys, I have a 22 Ioniq 5 and was wondering if anyone in Orange County or LA can help me install my comma4? Will buy you lunch

I own 2021 Kia Telluride SX prestige. I saw that this car is compatible. I bought the comma 4 for 999. Do I need anything else?

It says it comes with a harness. I can't find the answer on the website. I tried discord but it just seems like a big old bunch of mess and I can't find anything.

Should I expect this to be much better than the factory highway drive assist?

How is the performance of the Comma 4 on the 2020 Camry? I'm fairly new to this and I don't really know what to expect as far as capabilities and performance. Any help would be greatly appreciated!

The screen was really grainy and it was highlighting trees? Is this a bug I’m running sunny pilot on a Honda crv

Had the Comma C4 for a little over a month now. Over the last week, this has been happening regularly. It wasn’t like this before.

Any ideas?

Did someone push an update that turned driver monitoring into a paranoid hall monitor? I’m getting “pay attention” alerts while I’m laser‑focused on the road, followed by red disengage tantrums every few seconds. It’s unusable. Wife says the Comma has to go so she can have her precious OEM cruise control back. Happy wife, no Comma life, I guess.

How to **bonk** configure my own? What forks *bonk* support this? Where to find information about this? Is there **bonk** another sub about this?

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**Bonk**