jetlink

Run big models without a Chestnut.

Run openpilot's big driving models on a Mac, iPhone, iPad, Jetson Orin Nano, or Linux PC plugged into your comma.

Mac app, iPhone/iPad app, or a terminal installer for Linux and Jetson. Models download and prepare themselves.

install jetlink what you need

requirements

what you need

A comma 3X or comma 4 on zoompilot's jetson-trt branch.
A USB 3 USB-C cable, or a USB-A to USB-C cable with a USB-C adapter. Charge-only cables won't work.
Separate power for the comma and computer.
One of these computers:

Mac: Apple silicon, macOS 15 or later. 16 GB memory recommended.
Jetson Orin Nano: Super Developer Kit (8 GB), 64 GB or larger microSD or NVMe SSD, JetPack, and a 12 V power supply (see the Jetson guide).
Linux laptop or desktop: Ubuntu or Debian with an NVIDIA GeForce RTX 20 series or newer GPU.
iPhone/iPad experimental: USB-C, iOS or iPadOS 26.1 or later (USB 3: iPhone 15 Pro or later, iPad Pro, Air or mini), a USB 3 USB-C cable, and a Mac with Xcode to build the app.

install

install jetlink

Mac app

Download the DMG, drag Jetlink to Applications, and open it.

Download for Mac Mac install guide

Preparing a model and connecting a comma in the Mac app.

Linux and Jetson installer

Run the terminal installer. On Jetson it also sets up power and sleep.

Install on Jetson Install on Linux

Running the installer on a Jetson.

iPhone/iPad app (experimental)

Connects to the comma with one USB 3 USB-C cable; a powered USB-C hub only keeps the phone charging. Build it from source with Xcode. A free Apple account works, but renew the install every 7 days. Only tested with a Mac standing in for the phone.

iPhone/iPad install guide

Preparing a model and connecting a comma in the iPhone/iPad app, recorded in the iOS Simulator with timings modeled on an iPhone 17 Pro measurement.

setup

set up your comma

Set up in or out of the car, offroad. Keep the comma online and the computer powered and awake.

Install or update to zoompilot/jetson-trt on the comma.
In Settings > Models, set Accelerator Link to USB (iOS for an iPhone or iPad). Leave Big Model at its default.
Connect the computer or phone to the comma with the USB 3 cable. Wait for the icon to turn green.

full setup guide

Jetlink is experimental. The small model drives until the big model is ready. If the link drops while engaged, the comma soft-disables: take over. Read the operating limits before driving.

release notes

current release

v0.5.0 2026-09-28

iPhone & iPad support: run big models over one USB cable (experimental).
One Swift engine for the Mac and iPhone/iPad apps.
Accelerator Link is now Off, USB or iOS. Set it again after updating.
Cinque Terre V3 is the default model.
The installer installs the latest release, and jetlink update moves to the newest.

all release notes

v0.5.0 2026-09-28
- iPhone & iPad support!
  - Run big models on an iPhone or iPad over one USB cable (experimental, build with Xcode) <3
  - Turn on: Settings > Models > Accelerator Link > iOS.
  - Thank you Casey (@ScriptDrifter) for the original iPhone port!
- One Swift engine. The Mac and iPhone/iPad apps now share one Swift server, matched to the Python server’s output.
- General updates and fixes.
  - Accelerator Link: Now Off, USB or iOS. Set it again after updating.
  - Default Model: Cinque Terre V3.
  - Model Switching: New models download and build in one step.
  - Reliability: Recovers in seconds if the Jetson server restarts mid-drive.
  - Jetson Power Off: Fixed the comma not shutting the Jetson down.
  - Installer: Installs the latest release; jetlink update moves to the newest.
  - Mac: Swift server option with no Python, and a Benchmark page.
- Removed. tinygrad backend and Jetson over Ethernet.
v0.4.3 2026-09-27
- Mac. Fixed “No bundled Python runtime” when opening from Finder or the Dock on macOS 15.
v0.4.2 2026-09-27
- Mac. Signed and notarized: opens without the Gatekeeper workaround.
v0.4.0 2026-09-26
- One-command install!
  - Sets up your Jetson or Linux PC with one command.
  - jetlink update updates, and rolls back if it fails.
- General updates and fixes.
  - JetPack: 6.2 and 7.2 (7.2 is ~12% faster).
  - Linux PCs: NVIDIA driver 580+.
  - Models: Cinque Terre V3, and new big models show up without a Jetlink update.
  - Jetson Sleep: Fixed on stock JetPack.
- Mac.
  - Apple Silicon: M1 Pro and up, with the model split across the Neural Engine and GPU.
  - Models: Preload with one click. Models from v0.3.0a1 prepare again once.
  - Latency: New visualizations.
  - Branding: New Jetlink look and icon.