zoompilot

A sunnypilot fork aimed at the best steering on EPS-limited vehicles, with extra tuning and full alpha longitudinal for Mazda.

installation github discord

46G machine gray

what zoompilot adds

zoompilot keeps everything sunnypilot does and adds these. See the wiki.

on Mazda

Torque Limit Integration
More torque at low speed, smoother on the highway, steadier through turns.
Updated Steering Tune
Turns in earlier, with fewer small corrections on the highway.
Sensors and Alerts
Radar, blind-spot and speed-sign data on screen. False warnings gone, real faults kept.
Alpha Longitudinal disables radar and AEB
openpilot drives the gas and brakes on the CX-5 and CX-9. Safety notes.

on every car

Speed-Dependent Steering
Learns how your car steers at each speed. On by default for Mazda, Toyota, Hyundai, Honda, Rivian and VW.
Slow for Curves
Slows before a curve, then returns to your set speed. Retuned for Mazda.
Speed Limit Assist
Sets cruise to the speed limit from maps. On Mazda, also from the camera's signs.
Lane Change Smoothing
Smoother, slower lane changes at the pace you choose.
Speed Assist
Brings Experimental Mode up to your set speed on a clear road.
Lead Follow Assist
Follows a steady car at your chosen distance in Experimental Mode.
Jetlink
Run big driving models on a Mac, iPhone, Android phone or Jetson, connected to your comma.

This is experimental software. You drive the car, follow the law, and carry all the risk.

Same safety checks
The panda checks every command against fixed limits, as in openpilot.
Driver monitoring stays on
Look away and it warns you, then turns off.
Tested before release
I test every stable release with the community first.
Easy to undo
Reinstall openpilot or sunnypilot any time.

openpilot and sunnypilot can’t drive a Mazda’s gas and brakes. zoompilot can.

Turns off the car’s radar. Automatic Emergency Braking (AEB) and Forward Collision Alerts stop working while it is on.

Credit: Alex Frutkin (@yummydirtx) completed most of the initial reverse engineering for this feature.

2026.09.12-14 6d4b108357 · 2026-09-12

Adjustments to address LKAS errors.
TJA is switched off fully on cars with TJA/CTS, so the camera does not take over when you disengage.
2023 CX-8 support, and alpha longitudinal on 2012-16 CX-5s with a compatible steering rack swap.
Alpha longitudinal engages again after a restart or force offroad, with a startup alert when it is ready.
The TJA button setting can be changed through sunnylink.