GaryPilot: Rivian R1T & R1S (GaryPilot)

A personal sunnypilot-based openpilot fork for the Rivian R1T & R1S. It combines:

• xnor-tech rx-dev: angle-based lateral control through the angle harness, plus low-speed oscillation smoothing.
• AdventurePilot stg-a gear-stalk MADS semantics: an upward stalk flick toggles or disengages lateral control, and lateral control disengages in Park and Reverse. Includes the matching panda safety support.

The table below summarizes GaryPilot's integration with the Rivian R1 platform, detailing system behavior, driver interaction, safety thresholds, and direct source code references:

Supported hardware: comma 3X and comma four, in a Rivian R1T/R1S with the angle harness.

1. On the device: Settings → Software → Uninstall (uninstalls driving software; does not factory-reset AGNOS or Wi-Fi).

2. The device reboots into the setup screen. Choose Custom Software and enter either:

   • Full URL:

     https://installer.comma.ai/caleb-collar/GaryPilot
     

   • Shorthand:

     caleb-collar/GaryPilot
     

   [!IMPORTANT] The branch name GaryPilot is case-sensitive in git. Ensure both G and P are capitalized.

3. On first boot the panda is reflashed with this branch's firmware automatically.

If your Comma was already running a previous branch or another fork pointing to caleb-collar/openpilot:

• Via On-Device UI (Fastest):
  1. Open Settings → Software → Select a branch.
  2. Select GaryPilot.
  3. Tap Check for Updates (or wait for the download to finish).
  4. Tap Reboot when prompted.
• Via SSH:

  ssh comma@<device-ip>
  cd /data/openpilot
  git remote set-url origin https://github.com/caleb-collar/openpilot.git
  git fetch origin GaryPilot
  git checkout -B GaryPilot origin/GaryPilot
  git submodule sync
  git submodule update --init --recursive
  touch prebuilt
  sudo rm -rf /data/safe_staging/*
  sudo reboot

Rollback: repeat the steps with xnor-tech/rx-dev (https://installer.comma.ai/xnor-tech/rx-dev). The panda firmware is restored automatically.

This branch is rooted on xnor's prebuilt rx-dev tree. Libraries are vendored rather than submodules (opendbc_repo/, panda/, msgq_repo/, …), and compiled aarch64 binaries are committed so the device skips the build.

Key Rivian code:

• opendbc_repo/opendbc/car/rivian/: car state, controller, xnor angle smoothing (ext_controller.py)
• opendbc_repo/opendbc/sunnypilot/car/rivian/: stalk parsing, MADS car controller
• opendbc_repo/opendbc/safety/modes/rivian.h: panda safety mode
• openpilot/sunnypilot/selfdrive/car/car_specific.py, openpilot/sunnypilot/mads/: MADS event handling

git config core.hooksPath .githooks   # Conventional Commits hook

• Commits: Conventional Commits, enforced locally and in CI. See CONTRIBUTING.md.
• Checks: fork/ holds the sudo-free safety gate (tests, 100% coverage, MISRA, mutation), a reproducible panda firmware build and verify step, and the prebuilt-branch invariant checks. CI runs the same scripts.
• Changelog: Keep a Changelog in FORK_CHANGELOG.md. The root CHANGELOG.md is upstream sunnypilot's. The device parses it for release notes, so leave it untouched.
• Plan, constraints, verification matrix, upstream resync workflow: INTEGRATION_PLAN.md.

• comma.ai openpilot: the foundation
• sunnypilot: MADS and the fork this builds on
• xnor-tech: Rivian angle harness support and steering smoothing
• AdventurePilot: Rivian gear-stalk MADS design
• lukasloetkolben: original Rivian R1S/R1T port

By default, openpilot/sunnypilot uploads driving data to comma servers. You can access your data through comma connect. You are free to disable data collection.

openpilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. The driver-facing camera and microphone are only logged if you explicitly opt in in settings.

By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

This fork is released under the MIT License, like sunnypilot and openpilot, from which it derives. The original openpilot license notice, including comma.ai's indemnification and alpha software disclaimer, is reproduced below as required:

openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.

Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys' fees and costs) which arise out of, relate to or result from any use of this software by user.

THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT. YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.

For full license terms, see the LICENSE and LICENSE.md files.

• Rivian®, R1T®, and R1S® are registered trademarks of their respective owners, RIVIAN AUTOMOTIVE, LLC and RIVIAN AUTOMOTIVE, INC.
• Rivian is a registered trademark of its respective owner. This project is independent and has no official affiliation with the manufacturer.
• No Endorsement or Affiliation: This project is an independent, community-driven open-source research fork. It is not affiliated with, endorsed by, sponsored by, or certified by Rivian Automotive, LLC, Rivian Automotive, Inc., or any of their affiliates.
• No License or Credit Taken: We do not claim any ownership, rights, or license to Rivian's trademarks, trade dress, or logos, nor do we take credit for or license Rivian's logo or intellectual property. Any references to Rivian vehicle makes or models are used strictly for vehicle identification, technical compatibility, and nominative fair use.
• Exclusion of Visual Assets: As stated in the LICENSE and LICENSE.md files, the MIT license applies solely to source code files. Visual assets and UI themes are excluded from this license.