StarPilot

StarPilot is a custom fork of comma.ai's openpilot, an open source driver assistance system.

Openpilot provides

• Automated Lane Centering
• Adaptive Cruise Control
• Lane Change Assist
• Driver Monitoring without wheel nags

Ford-specific lateral-control and vehicle-support work includes substantial adaptations from BluePilot, principally developed by Alan Polk with additional BluePilot contributors. StarPilot's implementation has since diverged, but that does not erase its lineage. See CREDITS.md for the code-level provenance and THIRD_PARTY_NOTICES.md for applicable upstream notices and terms. BluePilot and its contributors do not maintain or endorse StarPilot; please direct support requests for this adaptation to the StarPilot project.

Hyundai, Kia, and Genesis angle steering and related vehicle support include substantial adaptations from sunnypilot and its opendbc angle-steering branch. StarPilot's implementation has diverged significantly; the upstream contributors do not maintain this adaptation. Detailed code lineage is recorded in CREDITS.md.

StarPilot has a vibrant, welcoming community discord. Stop by to chat or ask questions! If your car isn't driving as well as you'd like, open a ticket so we can help!

Documentation

Please see https://wiki.firestar.link for hardware lists, installation guides, and software configuration.

Features

• Full support for Comma C3, C3X, and C4
• Full support for chestnut/eGPU on C3, C3X, and C4. C3/C3X may require special gps handling.
• Model switcher with all of comma's tinygrad driving models
• StarPilot custom torque controller
• StarPilot custom longitudinal planner for both radar and VoACC (visual only, radar-less) vehicles
• Custom tuning for an expanding list of vehicles
• Firestar Lateral Method - Auto tuning system to adapt openpilot to your car's unique lateral characteristics.
• Galaxy: StarPilot's portal to configure your comma device using your phone from anywhere. Download models, change settings, update software, diagnostics, manage dashcam video, and more.
• Navigation - Display routes and give the driving model hints on taking exits and turns.
• Always On Lateral (full time steering assist)
• Lane Centering - Enable to center between detected lane lines, with graceful fallback to model E2E lateral outputs and safety breakout
• Force Stop 2.0 - Better stops at stop signs and traffic lights.
• Speed Limit Controller - Use dashboard, map data, and/or vision detection for speed limit signs
• Curve Speed Controller - Learns from how you take curves
• Conditional Experimental Mode (CEM)
• Conditional Chill Mode (CCM)
• Driving Profiles and Traffic Mode
• Custom themes
• Alert volume customization
• Comma Pedal Interceptor support
• Bluetooth support - Connect keyboards, controllers, steering wheel remotes, and more.
• Sentry mode - Record when motion is detected while parked.
• V-ASM - Detect vehicles in the adjacent/blind spots using the driver-facing camera.
• Additional car support - Toyota SDSU, ZSS, CAN filter; pre-AP tesla; ford; Polestar 2; and more.
• And more!

GM-only Features

• Increased LKAS fault resiliency
• ASCM_INT and SASCM support
• Custom lateral torque controller, with special tuning for Bolts
• 50% extra torque on 2017 Chevy Bolt
• Improved lateral and longitudinal tuning
• Dashboard cruise control display speed spoofing for vehicles with pedal interceptor
• Extra steering wheel button functionality for vehicles with pedal interceptor
• Optional toggle to boot comma when remote starting your vehicle

Developer Features

• Native and cross compilation for Windows, Mac, and Ubuntu
• Custom AGNOS to support C3, C3X, and C4
• Raylib UI on C3, C3X, and C4
• To run UI on PC:
  • ./c3 for large UI
  • ./c4 for small UI
• ./build to produce cross compiled binaries for comma devices. Uses your comma's sysroot/toolchain
• Toggle: "Use Precompiled Binaries" to allow switching between fast boot / editable builds
• Custom long maneuver tests, specifically designed for regen-only vehicles

Third-Party Notices

• Portions of this software include modified versions of the Material Design Icons provided by Google under the Apache License 2.0. A copy of the license is included in the LICENSE-MDI file.
• Ford support includes software adapted from BluePilot's bp-7.0 branch. The source repository contains both a standard MIT notice and a separate custom SUNNYPILOT LLC notice; StarPilot preserves both in THIRD_PARTY_NOTICES.md.
• Hyundai, Kia, and Genesis support includes software adapted directly from sunnypilot's HKG angle-steering branch and sunnypilot/opendbc. StarPilot preserves the applicable notices in THIRD_PARTY_NOTICES.md.

This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.