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Tesla
If you want more information, join the #tesla channel on discord!
Tesla Model 3 (2019–2025) and Model Y (2020–2025) with HW3 or HW4 are officially supported in openpilot 0.9.9+. Stock upstream openpilot works out of the box no fork needed.
Setup guide (c/o Loetkolben!): click here
Harnesses are available from comma (Tesla A connector) or Loetkolben's store.
Harnesses are available from comma (Tesla B connector) or Loetkolben's store.
Some 2023 model years have HW4. To check, look for Autopilot computer under Software → Additional Vehicle Information on your Tesla's touchscreen.
The standard comma harness only connects to the Party CAN bus. An optional Vehicle CAN Addon Cable taps into the Vehicle CAN bus via the A-pillar diagnostic connector (X179). This enables:
- Full MADS support (Sunnypilot) — keep steering active when pressing the brake
- Custom feature development — access to infotainment/body bus LHD only. See the xnor wiki for full installation details.
Tesla Model S/X support is community-maintained and is not part of upstream openpilot. These models are supported by the xnor fork maintained by Loetkolben. The older Tinkla/Unity support (previously at BogGyver/openpilot, Tinkla Discord) is considered unmaintained since 2023.
| Model | HW | Harness/Fork | Device | Notes |
|---|---|---|---|---|
| Model S (preAP, no AP) | — | tesla-unity fork | comma 3X (NOT comma four) | OBD-C Adapter, requires one-time EPAS patch, vision-based ACC 18+ MPH |
| Model S (AP1/HW1) | HW1 | xnor fork | comma four or comma 3X | AP1 harness — installs at rearview mirror camera housing |
| Model X (AP1/HW1) | HW1 | xnor fork | comma four or comma 3X | HW1 kit — installs behind glovebox, requires glovebox removal |
| Model S/X (AP2/HW2) | HW2 | xnor fork | comma four or comma 3X | Dual CAN interceptor box — both ports must connect to comma device |
| Model S Raven | HW3 | xnor fork | comma four or comma 3X | Dual CAN interceptor box — Chassis CAN + Powertrain CAN needed (differs from Model 3/Y) |
The following forks are based on the Tesla community work above (in no particular order):
- xnor wiki — full hardware, software, and technical documentation
- xnor-tech/openpilot — community fork source
- xnor community Discord
- Loetkolben store
Make driving chill. Buy a comma four with a car harness today! Our new price is $999