Start here¶
zoompilot is a sunnypilot fork. It runs on every car sunnypilot supports, adds speed-dependent steering learning for torque-steering cars, and adds Mazda steering tuning and cruise work.
Read Safety before your first drive.
coming from openpilot, sunnypilot or another fork¶
Keep your comma and harness. What changes:
| Area | On zoompilot |
|---|---|
| Steering | On torque-steering cars, Self-Tune learns how your car steers per speed range. Mazda also gets tuning matched to its steering hardware. |
| Low-speed steering on Mazda | A compatible Mazda EPS (2022+) assists down to a stop. An older EPS stops below about 28 mph (45 km/h). |
| Brake and CANCEL | End cruise but leave steering on (MADS, on by default). |
| Cruise | Optional Slow for Curves and Speed-Limit Assist. Cruise-button control starts on its own when a feature needs it. |
| Lane changes | Optional smoothing and road-edge blocking. |
| Models | Firehose by default. Jetlink can run larger models. |
From sunnypilot: ICBM cruise-button control has no switch of its own, Smart Cruise is now Slow for Curves, and speed-dependent learning runs with Self-Tune.
what you need¶
- A comma 3X or comma 4. Clones work only if they match that hardware, including the driver camera.
- The harness for your car, from the comma shop. Mount it with comma's setup guide.
- A car on the supported cars list.
Optional: a Mazda navigation SD card (speed limits from the car's sign recognition), maps downloaded through sunnylink (map-based curve slowdowns and speed limits), or a computer or phone for Jetlink.
install¶
- Connect the comma to Wi-Fi or a hotspot.
- Choose custom software.
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Enter:
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After it restarts, Settings → Software shows zoompilot on
main.
Coming from another fork? Factory reset first with Settings → Software → uninstall/reset, after saving any settings or recordings you want.
Watch the installation
recommended settings¶
On a supported Mazda, MADS, torque control, Self-Tune and the Firehose model are on by default. Leave them on and keep custom tuning and Manual Real-Time Tuning off. Alpha Longitudinal is off by default: on Mazda it turns off automatic emergency braking and forward collision warning.
After your first drive, turn these on one at a time, while parked:
| Setting | Why |
|---|---|
| Settings → Cruise → Slow for Curves: Vision | Slows cruise for curves the camera sees, then resumes your set speed. Limits. |
| Settings → Cruise → Slow for Curves: Map | Slows for curves in map data. Download your region in sunnylink first. |
| Settings → Steering → Lane Change Smoothing | Slower, smoother lane changes at the pace you pick. Limits. |
| Settings → Steering → Block Lane Change: Road Edge Detection | Blocks lane changes toward a road edge the model sees. |
Speed-Limit Assist and experimental speed control are optional.
first drive¶
What differs from stock on a Mazda with default settings:
- Main cruise switch on turns steering on once the car and device are ready. Setting a speed starts cruise.
- Brake or CANCEL ends cruise. Steering stays on.
- Main cruise switch off turns both off. Practice this where it is safe.
- The screen shows steering and cruise separately. A set speed does not mean steering is active.
- Self-Tune adapts over the first few drives. Nothing to tune.
Driving covers brake behaviour and the Mazda TJA button option.