stock openpilot with extra features through a lightweight plugin framework.
Install: install.catpilot.dev
catpilot is openpilot with a lightweight plugin framework to extend a set of features as plugins.
| Feature | What it does for you |
|---|---|
| Speed limit assist | Watches the speed limit for you — from offline map data and from what the camera sees (lane count, road type) — and eases the car down for sharp curves and highway ramps |
| Lane keeping | Damps the slow left-right sway ("ping-pong") inside the lane |
| Model selector | Download and switch between driving models from the Software panel |
| comma three support | Keeps the original comma three working on current catpilot (display, panda, OS) |
- comma three (2021)
- comma 3X (2023)
- comma four (2025)
comma three support comes from the c3_compat plugin, which is enabled automatically on that hardware.
Back up first — installing erases the device. Reaching the Custom Software
screen means a factory reset, which reformats /data: every recorded drive,
your calibration and all settings are gone. Copy anything you want to keep off
the device before you start.
- comma three only: the device must already be on AGNOS 12.8. Install
the last stock openpilot that supports it
(
openpilot.comma.ai), or flash AGNOS 12.8 via flash.comma.ai. The installer checks this and tells you if you're on the wrong version. (comma 3X and four: nothing to do.) - Settings → Device → Factory Reset, and let the device reboot into setup.
- At Custom Software, enter
install.catpilot.dev. - First boot fetches the plugins and Connect on Device, then reboots once on its own. That reboot is expected — let it finish.
- Drive to recalibrate before judging how it steers; the reset wiped the learned calibration.
Something went wrong? Open an issue. To go back, install stock openpilot the same way.
catpilot keeps openpilot's safety model as-is: SAFETY.md and LIMITATIONS.md.
- plugins — the extra features
- connect-on-device — on-device web app for routes, OSM map tiles, and plugin management
If you want to know what catpilot changes in openpilot and how plugins attach to it, that's in DESIGN.md. If you want to write a plugin, start with the plugin development guide.
catpilot is not affiliated with or endorsed by comma.ai or BMW.