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Revision as of 22:16, 14 June 2018 by Snowy (talk | contribs) (grey panda notes)

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Welcome to the Tesla Openpilot Wiki!


This port is currently focused on the Pre-AP Teslas from 2014 and earlier. The EPAS (Electric Power Assisted Steering) unit on these pre-AP Teslas is capable of steering itself based on electronic commands like the AP1 and 2 Teslas, but since they don't have autopilot there's a kill signal that is sent to disable this feature. Because of this, we have to proxy the CAN-bus messages through the panda which will alter that kill signal and change it to an enable signal. To accomplish this, you have to remove the frunk liner to get at the EPAS unit, and unplug the factory cable and plug in a bypass cable that allows for this proxying. This cabling also allows OpenPilot to send the steering commands to the car.


  • Panda or Grey Panda (Grey Panda costs 2x as much and includes high accuracy GPS which may be helpful in the future for more accurate steering)
  • Tesla Giraffe and Wiring harness. Contact @appleguru in the #tesla channel on the comma slack to arrange purchase. There are 2 different types of Giraffe, so you need to know if your car was manufactured before or after May 31, 2013

Instructions to set it all up

(this is very much in progress and not yet complete)

  • Install the wiring harness to the EPAS unit and the OBDII port in the driver footwell
  • Install Panda on Giraffe ODB2 port (driver footwell)
  • Connect EON to Panda via USB cable
  1. cd /data
  2. mv openpilot openpilot.stock
  3. git clone https://github.com/jeankalud/openpilot.git
  4. cd openpilot
  5. git checkout tesla
  6. reboot
  1. cd /data/openpilot/panda/board
  2. killall boardd
  3. make clean
  4. make recover
  5. make





Video instructions for removing the frunk: https://www.youtube.com/watch?v=JbPq1W_fYz4

How to flip your EON: https://www.youtube.com/watch?v=JPNzmAprWZs