Tesla - commaai/openpilot GitHub Wiki

Tesla

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Officially Supported — Tesla Model 3 / Model Y (HW3 & HW4)

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

Setup guide (c/o Loetkolben!): click here

HW3

Harnesses are available from comma (Tesla A connector) or Loetkolben's store.

HW4

Harnesses are available from comma (Tesla B connector) or Loetkolben's store.

Which HW do I have?

Some 2023 model years have HW4. To check, look for Autopilot computer under Software → Additional Vehicle Information on your Tesla's touchscreen.

Vehicle CAN Bus Addon (HW3/HW4)

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.

Community-Maintained — Tesla Model S / X (All Generations)

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.

Which fork and device do I need?

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)

Other Community Forks

The following forks are based on the Tesla community work above (in no particular order):

Resources