NAP-C3 (personal fork)

Personal NotAutopilot fork for one specific car.
2014 Tesla Model S85 (pre-AP, tech non-P) · comma 3 · Tinkla Buddy IC · Comma Pedal · Tinkla Bosch radar.

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⚠️ What this is

This is a personal openpilot fork for one specific Tesla. It is not production-ready for other cars — tunes, LUTs, and CAN bit-layouts are calibrated against a single 2014 S85 with specific retrofit modules.

• Not affiliated with comma.ai — comma 3 / openpilot are products of comma.ai
• Not the NotAutopilot organization — this is a downstream personal fork; for general pre-AP Tesla support go to NotAutopilot/openpilot
• Use at your own risk — driver is responsible for all consequences

Install on comma 3

On the comma 3 setup screen → Custom Software → Other:

URL	Branch	Update cadence
main.c3.cdma.no	main	Stable — bumped after live-validation
dev.c3.cdma.no	dev	Rolling — synced from private after every live deploy

URLs are HTTP 301-redirects to installer.comma.ai/sveinmer/<branch>.

Hardware

Component	Model
Vehicle	2014 Tesla Model S85 (Standard 85 kWh, tech-package, non-Performance)
Compute	comma 3 (F4 internal panda — not comma 3X)
Instrument cluster mod	Tinkla Buddy R2S 1.44
Longitudinal control	Comma Pedal (throttle + regen via accel-cmd)
Forward sensing	Tinkla Bosch radar (GTW-emulated)

What works / what doesn't

✅ Lateral via EPAS + standalone panda safety ✅ Longitudinal via Comma Pedal (VirtualDAS cascade: jerk-limit → FF table → inner PID + grade comp) ✅ Lead-following with Bosch radar ✅ Buddy IC integration (lanes, lead vehicle, speed limit sign, gauge widgets) ✅ comma 3 F4 internal panda firmware (revived from upstream bye bye f4)

⚠️ ACC-radar-control under refinement — radar live, control loop being tuned ❌ AEB not implemented — pre-AP S85 has only regen braking (~50 kW), no friction-brake CAN path. Driver is the primary brake. ❌ Driver monitoring active but tuned for this driver's seating position

Attribution

This fork stands on:

• commaai/openpilot — the upstream driver-assistance platform
• NotAutopilot/openpilot — pre-AP Tesla support, comma-pedal long-control architecture
• Tinkla project — first proved openpilot works on pre-AP Teslas; CAN-stack, Buddy IC integration, Bosch radar GTW-emulation
• xnor-tech/openpilot — AP1 Model S support baseline
• MagZu/openpilot — feedforward-dominant pedal architecture reference
• FrogPilot / OPGM Bolt — pedal tuning patterns

Contributing

This is a personal fork — PRs are not accepted here. For community contributions to pre-AP Tesla openpilot, see NotAutopilot/openpilot.

License

MIT (inherited from upstream commaai/openpilot).

Sync mechanism

Private development happens at a private fork. Public mirror updated via scripts/sync_to_public.sh after every live-validated deploy. The script sanitizes:

• Deletes: docs/, evidence/, .claude/, build artifacts, proprietary firmware blobs
• Anonymizes: device IPs, dongle-ID, email, personal names
• Updates submodule pins to public mirrors
• Squashes to a single orphan commit (no private history exposed)

Submodule public mirrors:

• opendbc_repo → sveinmer/nap-c3-opendbc
• panda → sveinmer/nap-c3-panda