zoompilotjetlinkwiki

jetlink

Run big models without a Chestnut.

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

install jetlink what you need
Jetlink icon

what you need

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) and a USB 3 USB-C cable.
Android phone experimental
Snapdragon 8 Gen 2 or newer with USB 3, Android 12 or later, a USB 3 hub with USB-C power pass-through, and a Mac or Linux PC to build the app.

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. Install it from TestFlight.

Available on TestFlight iPhone/iPad install guide

iOS Demo (simulated)

Android app (experimental)

Runs the model on a Snapdragon phone's NPU. Connects to the comma through a USB 3 hub that keeps the phone charging. Build it from source. Not yet run on a phone.

Android install guide

Android Demo (simulated)

set up your comma

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

  1. Install or update to zoompilot/main on the comma.
  2. In Settings > Models, set Jetlink (Accelerator Link on older builds) to USB (also for Android; iOS for an iPhone or iPad). Leave Big Model at its default.
  3. 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.

latest releases

v0.9.0 2026-11-05 for Jetson, Linux, Mac, iOS, Android

all release notes
  1. v0.9.0
    • Models
      • Jetlink now has its own model index, checked every hour for new comma models.
      • comma keeps changing how it ships models, so some new models needed a Jetlink update. They no longer do.
      • Update the Jetlink app and the comma, in any order.
  2. v0.8.12
    • Models
      • A fork whose model list knows a model only by its ONNX file, such as StarPilot, can pick the big model on the comma, and its list shows a model picked in the Jetlink app.
    • General Updates & Fixes
      • Fixed the Jetson’s web page, which did not load in v0.8.11. Update the Jetson.
  3. v0.8.11
    • Models
      • Allow model selection from the comma or the Jetlink app without redownloading the model on each device.
    • General Updates & Fixes
      • Update the comma and the app: either can go first. zoompilot’s danger-unstable branch has the comma’s side.
  4. v0.8.10
    • General Updates & Fixes
      • Fixed high CPU use on a Mac, iPhone or iPad while a comma is connected but not driving.
  5. v0.8.9
    • Models
      • Fixed Mountain Dew Model v3 and Flip Flop Model showing as one.
  6. v0.8.8
    • Models
      • Flip Flop Model and Mountain Dew Model v3 are listed separately. Picking one no longer picks the other.
    • Comma
      • A comma 3X no longer powers off when a laptop is plugged into its port.
      • Skips downloading a model the Mac or Jetson on the cable already has.
    • General Updates & Fixes
      • A big model that returns NaN hands back to the small model, keeping the link.
      • Stays ready while the comma is connected, so rejoining mid-drive is fast. Thanks Danny (@dirwin31).
      • Update the app. The comma gets v0.8.8 with zoompilot’s next main release.
  7. v0.8.7
    • Models
      • Mountain Dew Model now runs the retrained model comma shipped, not the earlier one.
      • Mountain Dew V2 Preview removed. If you picked it, Jetlink switches to Cinque Terre V3; pick Mountain Dew Model for comma’s final version.
      • Mountain Dew Model v3 is listed, and loads once comma publishes its files.
    • Update the comma and the app
      • zoompilot’s main release 2026.10.15-15 pins Jetlink v0.8.7.
  8. v0.8.6
    • Jetson
      • Sleeps until the comma wakes it, no longer waking every 30 minutes.
    • Models
      • Mountain Dew V2 Preview added.
    • General updates and fixes
      • Works with the latest openpilot.
    • Update the comma
      • zoompilot’s develop branch pins Jetlink v0.8.6.
  9. v0.8.5
    • iPhone and iPad
      • Faster, steadier cable link.
    • Driving
      • One slow frame no longer hands the big model back.
      • Fixed switching to an old model while the pick builds.
    • Update the comma
      • zoompilot’s develop branch pins Jetlink v0.8.5.
  10. v0.8.4
    • Driving
      • A slow big model hands back within a second.
      • modeld uses less CPU.
      • Fixed occasional link drops while driving.
    • iPhone and iPad
      • The comma no longer charges the phone. It caused instability.
      • Status says Driving on Small Model after a lost link.
    • Models
      • ResAction Preview added.
      • The last built model drives while a new pick downloads.
    • Update the comma
      • zoompilot’s develop branch pins Jetlink v0.8.4.
  11. v0.8.3
    • iPhone and iPad
      • USB-C to C cable: works without a hub, and the comma charges the phone.
      • Frames reach the phone faster over the cable.
    • General updates and fixes
      • The Neural Engine stays warm between sessions, so the first frame after a rejoin is on time (iPhone, iPad, Mac).
      • The comma 4 no longer gets stuck on “waiting for jetlink” after a rejoin.
    • Update the comma
      • zoompilot’s develop branch pins Jetlink v0.8.3.
  12. v0.8.2
    • Mac
      • Updates: the app now updates itself. From 0.8.1, replace it by hand one last time.
      • Lid closed: new setting to keep serving with the lid closed. Thanks Nick (@mzdnick)!
    • General updates and fixes
      • The comma’s setting is now called Jetlink (was Accelerator Link).
      • The comma 4 says to check the cable after repeated drops.
      • Removed TCP debugging from the UI.
    • Update the comma
      • zoompilot’s develop branch pins Jetlink v0.8.2.
  13. v0.8.1
    • Driving
      • Smoother switch to the big model: it warms up while the small model drives.
      • A late frame reuses the last plan instead of dropping. Too many still hand back to the small model.
      • A big model that falls behind rejoins in about 1 s (was up to 60 s).
    • iPhone & iPad
      • Status tab warns when the link is USB 2.
      • Logs say why the comma stopped using the big model.
      • USB-C to C cable: work in progress. Try a USB-C to A cable with an A to C adapter, flip the cable, or use a good hub.
    • Android
      • Download the APK from the release page. No build needed <3
      • Automatic: new default. Pixel NPU, else the GPU.
      • Pixels use the GPU until Google allows Jetlink on the NPU.
    • General updates and fixes
      • Turning on the Accelerator Link turns ADB off. They share the USB port.
    • Update the comma
      • zoompilot’s develop branch pins Jetlink v0.8.1.
  14. v0.8.0
    • iPhone & iPad on TestFlight!
      • Install from TestFlight. No Xcode needed <3
      • Tested: driven with an iPhone in the car.
      • Direct cable: USB-C to USB-C should now work without a hub. Not yet tested.
    • Android on more phones
      • Big models run on any phone’s GPU, not just Snapdragon. The GPU is now the default.
      • NPU: still an option on Snapdragon.
      • Not yet tested on a phone. Run the Benchmark before you drive.
    • Slow model handback: a throttling iPhone no longer forces a disengagement. The small model takes over instead.
    • General updates and fixes
      • Faster Jetson start: ready in 25 s (was 38.5).
      • Jetson desktop: the installer can turn it off to free memory.
      • Installer: shorter, plainer questions.
      • Benchmark: a run with no frames now says Too Slow.
      • Loading: shows seconds instead of a stuck 0%.
      • Cable: use a USB 3 USB-C cable for the Mac, iPhone and Android.
  15. v0.7.4
    • No false LOW MEMORY alert on the comma with the Accelerator Link on.
    • Linux PCs: the installer runs on Debian 12, Fedora, Arch and openSUSE too (untested on hardware).
  16. v0.7.2
    • Cinque Terre V3 in sunnylink: the model selector lists it.
    • Model list: a spotty connection no longer drops a newer model or resets your pick.
    • Driving
      • Stays engaged: no forced disengagement after the TAKE CONTROL fallback to the small model.
      • No ‘model lagging’ alert after disconnecting Jetlink.
      • Connect on road: plug in with the car on, then turn cruise fully off and on for the big model.
      • Smoother handover: no steering kick.
      • Replug: reconnects at once.
    • Android support! Big models on a Snapdragon phone over USB (experimental, build from source) <3
    • One Swift engine everywhere
      • Same Swift server on every platform, half the CPU on a Jetson.
      • No Docker: jetlink update moves your install over, keeping settings and models.
    • General updates and fixes
      • Faster link: 2.2 ms USB transport (was 8.5).
      • Parked: the Jetson is awake about 1% of a park (was 6%).
      • Reliability: the comma restarts Jetlink if it stops.
      • Status page: http://<name>.local:5600
      • iPhone: Neural Engine + GPU by default.
      • iOS link: change it with the car off, no power cycle.
      • Mac: model actions live in the inspector.
    • Removed. The Python server and the Docker images.
  17. v0.6.0
    • Mac
      • Swift only: No bundled Python; the Mac app is 14 MB vs 120 MB before.
      • Settings: Python Server and Log level removed.
  18. v0.5.0
    • 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.
  19. v0.4.3
    • Mac. Fixed “No bundled Python runtime” when opening from Finder or the Dock on macOS 15.
  20. v0.4.2
    • Mac. Signed and notarized: opens without the Gatekeeper workaround.
  21. v0.4.0
    • 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.