Settings reference¶

Every setting by panel. For the settings I recommend, see Start here.

With a compatible Mazda EPS (2022+), torque control and Self-Tune are on by default, and Self-Tune learns per speed range. Names give the comma 4 label, then the comma 3X one where it differs. "comma 3X only" settings have no comma 4 control. Long-press a comma 4 setting for help. Many settings change only while parked (offroad).

Alpha longitudinal

Alpha longitudinal disables Mazda automatic emergency braking and forward collision warning. Read its guide before turning it on.

Steering¶

Setting

Default

What it does

enable mads / Modular Assistive Driving System (MADS)

On

In mads. Lets zoompilot steer while cruise is off. Off: steering and cruise engage together. Offroad only.

main cruise toggle / Toggle with Main Cruise

On

In mads. Turning cruise main on also turns steering on. Greyed with MADS off or tja button on.

unified engagement / Unified Engagement Mode (UEM)

On

In mads. Engaging cruise also turns steering on, and steering stays on after cruise cancels. Greyed with MADS off or tja button on.

steering on brake / Steering Mode on Brake Pedal

remain

In mads. What steering does when you brake. Pause resumes when you let go. Greyed with MADS off.

tja button / Mazda TJA Button

Off

In mads. Mazda only. The TJA button becomes the only steering switch; main cruise then controls cruise only. Turn on only if your car has the button. Offroad only. Greyed with MADS off.

auto lane change / Auto Lane Change by Blinker

nudge

In lane change. Nudge: signal, then nudge the wheel. Nudgeless and timed modes change lanes on the blinker alone. Signal only when traffic allows.

bsm delay / Auto Lane Change: Delay with Blind Spot

Off

In lane change. Waits an extra second after the blind spot clears. Needs blind spot monitoring and nudgeless or a timed mode.

road edge block / Block Lane Change: Road Edge Detection

Off

In lane change. Blocks a lane change toward a road edge the model sees.

lane change smoothing / Lane Change Smoothing

off

In lane change. Slower, smoother lane changes. Off is stock.

enable blinker pause / Pause Lateral Control with Blinker

Off

In blinker pause. Pauses steering while you signal at low speed, so you can turn by hand.

blinker speed / Minimum Speed to Pause Lateral Control

20

In blinker pause. km/h or mph. Below this speed the blinker pauses steering. Greyed until blinker pause is on.

blinker delay / Post-Blinker Delay

0 s

In blinker pause. Wait before steering resumes after the blinker ends. Greyed until blinker pause is on.

enable torque control / Enforce Torque Lateral Control

On for supported Mazdas; otherwise Off

In torque control. Steers with zoompilot's torque tunes. Tune version, self tune and custom tune need it. Offroad only. Greyed while NNLC is on. Not on angle-steering cars.

jerk aware / Lateral Jerk Torque Controller

Off

In torque control. Looks ahead to smooth corrections. No gain on Mazdas in testing; leave it off. Offroad only. Greyed while NNLC is on or when every model size runs the v2 tune.

tune version (small models) / Torque Control Tune Version (Small Models)

v2.0 for supported Mazdas; otherwise v0.0

In torque control. The steering tune while a small model drives. Keep the default. Offroad only. Greyed with torque control off.

tune version (big models) / Torque Control Tune Version (Big Models)

v1.0

In torque control. The steering tune while a big model drives. Keep the default. Offroad only. Greyed with torque control off.

enable self-tune / Self-Tune

On for supported Mazdas; otherwise Off

In torque control → self tune. Learns how your car steers, per speed range. Needs torque control. Offroad only. Greyed while manual realtime is on.

less restrict / Less Restrict Settings for Self-Tune (Beta)

Off

In torque control → self tune. Learns from fewer samples and accepts values further from the car's defaults. Needs self-tune. Offroad only.

enable custom tuning / Enable Custom Tuning

Off

In torque control → custom tune. Starts from your own lateral acceleration and friction. Self-tune still learns from there. Recommended off. Offroad only.

manual realtime / Manual Real-Time Tuning

Off

In torque control → custom tune. Steers with your values at every speed, ignoring self-tune. Applies within seconds, even while driving. Needs custom tuning.

lat accel / Lateral Acceleration Factor

2.5

In torque control → custom tune. Higher values steer with less torque. Needs custom tuning.

friction / Friction

0.1

In torque control → custom tune. Higher values add torque for small corrections. Needs custom tuning.

nnlc / Neural Network Lateral Control (NNLC)

Off

Steers with a neural network instead of the torque controller. zoompilot's torque tune is the tested path on Mazda. Offroad only. Greyed while torque control or jerk aware is on.

Cruise¶

Setting

Default

What it does

alpha longitudinal / Alpha Longitudinal

Off

In alpha longitudinal. zoompilot controls gas and brakes. Disables Mazda radar, automatic emergency braking, and forward collision warning. On Mazda, needs a compatible Mazda EPS (2022+). Offroad only; asks you to confirm.

experimental mode / Experimental Mode

Off

In alpha longitudinal. The driving model controls gas and brakes, including stops for lights and signs. Set speed is a maximum. Greyed without alpha longitudinal on Mazda.

speed assist / Experimental Mode Speed Assist

Off

In alpha longitudinal. Raises speed toward your set speed when the road ahead is clear. Needs Experimental Mode. Greyed while Dynamic Experimental Control is on.

lead follow assist / Experimental Mode Lead Follow Assist

Off

In alpha longitudinal. Closes an overly long gap behind a steady car, never closer than chill mode. Needs Experimental Mode. Greyed while Dynamic Experimental Control is on.

dynamic experimental control / Dynamic Experimental Control

Off

In alpha longitudinal. Switches between chill and Experimental Mode on its own: experimental for stops and slowdowns. Greyed until Experimental Mode is on.

slow for curves: vision / Slow for Curves: Vision

Off

Slows for curves the camera sees, then resumes your set speed. Without alpha longitudinal, Mazda uses cruise-button control. Turn on while disengaged.

slow for curves: map / Slow for Curves: Map

Off

Slows for curves in map data. Download maps in sunnylink first. Turn on while disengaged.

speed limit mode / Speed Limit

info

In speed limit. Assist: press - or + to match a new limit. Info and warn show the sign on comma 3X only.

source / Speed Limit Source

map-first

In speed limit (comma 3X: Customize Source). Combined uses the lower. Car needs a nav SD card on Mazda. Map uses downloaded maps. Greyed with speed limit off.

offset type / Speed Limit Offset

none

In speed limit. Adds a fixed amount or a percentage to the limit. Greyed with speed limit off.

offset value

0

In speed limit. km/h, mph, or %. Negative goes below the limit. Greyed until an offset type is set.

enable custom increments / Custom ACC Speed Increments

Off

In custom increments. Sets how far + and - move your set speed. Mazda uses cruise-button control. Turn on while disengaged.

short press / Short Press Increment

1

In custom increments. km/h or mph per tap. Greyed until custom increments is on.

long press / Long Press Increment

5

In custom increments. km/h or mph per step while holding. Greyed until custom increments is on.

Models¶

Setting

Default

What it does

small models / Small Model

Firehose (fm)

In select model. Runs on the comma. Keep the default for your first drive. Offroad only.

big models / Big Model

Cinque Terre Model v2, or Jetlink's own default

In select model. Runs on a Chestnut board or over Jetlink. Offroad only.

jetlink / Jetlink

off

Runs big models on a computer or phone plugged into the comma. USB for Mac, Jetson, Linux, or Android; iOS for iPhone or iPad. Turns off ADB. Offroad only. Hidden beside a Chestnut board.

Use Lane Turn Desires

Off

comma 3X only. At low speed with the blinker on, plans the turn that way, so the car does not pick the wrong turn at a light.

Adjust Lane Turn Speed

19 mph

comma 3X only. Top speed for lane turn desires. Needs the toggle above and Show Advanced Controls.

Live Learning Steer Delay

On

comma 3X only. Learns your car's steering response delay.

Adjust Software Delay

0.2 s

comma 3X only. Fixed delay when Live Learning is off. Needs Show Advanced Controls.

Adjust Camera Offset

0 m

comma 3X only. Shifts the model's center. Positive moves it left. Needs Show Advanced Controls.

Display¶

Setting

Default

What it does

brightness / Onroad Brightness

auto

Screen brightness while driving, after the brightness delay. Auto (dark) can go dimmer. Alerts brighten the screen.

brightness delay / Onroad Brightness Delay

10 min

Wait before the brightness setting applies. Greyed while brightness is auto or auto (dark).

ui timeout / Interactivity Timeout

default

How long settings stay open without a touch.

screen saver / Screen Saver

On

Shows a screen saver when offroad and idle, instead of a dark screen.

saver duration / Screen Saver Duration

5 min

How long the screen saver runs before the screen turns off. Greyed with screen saver off.

Visuals¶

Setting

Default

What it does

blind spot / Show Blind Spot Warnings

Off

Shows a warning when a car is in your blind spot. Greyed on cars without blind spot monitoring.

rainbow mode / Enable Tesla Rainbow Mode

Off

Draws the driving path as a rainbow. Cosmetic only.

green light alert / Green Traffic Light Alert (Beta)

Off

Chimes when your light turns green with no car ahead. Only while cruise is not engaged. Check the road before you go.

lead depart alert / Lead Departure Alert (Beta)

Off

Chimes when you're stopped and the car ahead pulls away. Only while cruise is not engaged.

Steering Arc

Off

comma 3X only. Draws the steering arc on the driving screen.

Enable Standstill Timer

Off

comma 3X only. Shows a timer when stopped.

Display Road Name

Off

comma 3X only. Needs OpenStreetMap data for your area.

Speedometer: Always Display True Speed

Off

comma 3X only. Shows wheel-speed-sensor speed on supported cars.

Speedometer: Hide from Onroad Screen

Off

comma 3X only. Hides the speedometer.

Display Turn Signals

Off

comma 3X only. Draws turn indicators on the HUD.

Real-time Acceleration Bar

Off

comma 3X only. Shows how hard the car is accelerating or braking.

Display Metrics Below Chevron

All

comma 3X only. Shows lead car data under the chevron. Needs openpilot longitudinal control.

Developer UI

Off

comma 3X only. Real-time debug values.

Toggles¶

Setting

Default

What it does

driving personality / Driving Personality

standard

Following distance and gas and brake style. Shown only with openpilot longitudinal control (alpha longitudinal on Mazda).

use metric units / Use Metric System

Off

km/h instead of mph.

lane departure warnings / Enable Lane Departure Warnings

Off

Warns when you drift over a lane line above 31 mph (50 km/h) without signaling.

always-on driver monitor / Always-On Driver Monitoring

Off

Monitors the driver even when zoompilot is not engaged.

record & upload cabin camera / Record and Upload Driver Camera

Off

Uploads cabin camera data to improve driver monitoring. Applies next drive. Greyed while engaged.

record & upload mic audio / Record and Upload Microphone Audio

Off

Adds microphone audio to dashcam videos. Applies next drive. Greyed while engaged.

enable sunnypilot / Enable sunnypilot

On

Master switch for zoompilot. Off uses your car's stock driver assistance. Greyed while engaged.

Disengage on Accelerator Pedal

Off

comma 3X only. Pressing the gas disengages. Off: the gas overrides without canceling.

Network¶

Setting

Default

What it does

network usage / Wi-Fi Network Metered

default

For the current Wi-Fi. Metered stops large uploads on it.

enable tethering / Enable Tethering

Off

Shares the device's internet through a Wi-Fi hotspot.

tethering password / Tethering Password

Device default

Password for the hotspot.

enable roaming / Enable Roaming

Off

Allows cellular data roaming. Hidden with full comma prime.

apn settings / APN Setting

Blank (automatic)

The access point name your cellular carrier needs. Hidden with full comma prime.

cellular metered / Cellular Metered

On

Stops large uploads over cellular. Hidden with full comma prime.

Device¶

Setting

Default

What it does

enable always offroad / Enable Always Offroad

Off

Keeps the device offroad with the car on, so zoompilot won't engage. On comma 4, a button in the main settings list; exit always offroad ends it. Disengage first. With alpha longitudinal on Mazda, zoompilot hands the radar back first, even while moving.

Change Language

English

comma 3X only. Device language.

Wake Up Behavior

Default

comma 3X only. Offroad starts the device in always offroad after boot or sleep.

Max Time Offroad

30 h

comma 3X only. Shuts the device down this long after the engine goes off.

Quiet Mode

Off

comma 3X only. Fewer sounds.

Onroad Uploads

On

comma 3X only. Uploads route logs while driving.

Software¶

Setting

Default

What it does

target branch / Target Branch

Installed branch

The branch the next update check downloads. Offroad only. Hidden on tested branches.

Disable Updates

Off

comma 3X only. Stops over-the-air updates. Needs Show Advanced Controls. Keep updates on to get releases.

sunnylink¶

Setting

Default

What it does

enable sunnylink / Enable sunnylink

On

Backups, map downloads, and remote settings. Off stops all sunnylink requests.

sunnylink uploader / Enable sunnylink uploader (infrastructure test)

Off

Uploads driving data to sunnylink servers. A test for top sponsor tiers; does nothing for you yet. Shown with sunnylink on.

Developer¶

Setting

Default

What it does

enable ADB / Enable ADB

Off

Android Debug Bridge over USB or the network. Offroad only. Greyed while Jetlink is on.

enable SSH / Enable SSH

Off

Remote shell access with your SSH keys.

SSH keys / SSH Keys

Not set

Grants SSH access to a GitHub account's public keys. Enter only your own username.

joystick debug mode / Joystick Debug Mode

Off

Drives the car from a joystick. Test benches only. Offroad only. Clears after each drive.

longitudinal maneuver mode / Longitudinal Maneuver Mode

Off

Runs a gas and brake test sequence. Not for road use. Needs openpilot longitudinal control. Offroad only. Clears after each drive.

lateral maneuver mode / Lateral Maneuver Mode

Off

Runs a steering test sequence. Not for road use. Offroad only. Clears after each drive.

ui debug mode / UI Debug Mode

Off

Shows touch points and the frame rate.

Show Advanced Controls

Off

comma 3X only. Reveals advanced settings across panels.

GitHub Runner Service

Off

comma 3X only. For zoompilot development builds.

copyparty Service

Off

comma 3X only. Browse and download your routes from a browser on your network. Needs Show Advanced Controls.

Quickboot Mode

Off

comma 3X only. Faster boot. Needs updates disabled and Show Advanced Controls.

other panels¶

Trips and Firehose have no settings.
OSM (comma 3X): downloaded maps.
Vehicle (comma 3X): automatic car identification. Do not force a different car to unlock features.