zoompilot

Q: Which cars does zoompilot cover?

The CX-5 2022–2025 is the primary target, with full support on the CX-9 2021–2023. The other Mazda platforms in the support list run on the stock steering envelope: CX-5 2017–2021, CX-9 2016–2020, and — on community reports — the Mazda 3 2017–2018 and Mazda 6 2017–2021. Older Mazdas gain steer-to-zero with the steering motor from a 2022-25 CX-5 swapped in — fingerprinting identifies the motor by its firmware. Supported cars on the wiki.

Q: Is it safe?

It is experimental Level-2 driver assistance: you drive, follow the law, and carry all the risk. Driver monitoring stays active. One caveat matters most: with alpha longitudinal enabled, the car's radar is turned off — no AEB, no forward collision alerts. Read the safety page before enabling it.

Q: Do updates arrive on their own?

Yes. On the zoompilot/main release channel the device repoints itself at the next start. A develop branch exists for daily work, but it is less tested.

a Mazda-optimized fork of sunnypilot.

Built to give you the best openpilot experience on your Mazda. It unlocks the steering motor’s full performance and adds curve speed control, speed-limit assist, and experimental longitudinal modes.

install what changed ↓

46G machine gray

any Mazda in the support list: runs on six platforms — a 2022-25 CX-5 EPS, factory-fitted or swapped, adds steer-to-zero automatically
faster steering response: commands the motor's full 12 units per frame — stock openpilot stops at 10
tuned for every speed: seven learned speed ranges keep the assist right, city street to highway
0 mph floor: steering assist holds to a standstill

steering improvements

The 2022-25 CX-5 electronic power steering (EPS) motor has been reverse-engineered, so that zoompilot can make use of its full range of available torque.

EPS-swaps supported: An EPS from a 2022-25 CX-5 allows steer-to-zero capabilities. zoompilot recognizes the EPS — factory or swapped — and automatically adapts.
Speed-dependent torque: The Mazda EPS allow for greater steering torque at lower speeds. zoompilot uses the full range of torque available to the EPS, enabling up to 44% more torque over stock openpilot.
Faster torque ramping: zoompilot commands up to 12 torque units per frame, compared with stock openpilot’s 10, allowing the EPS to reach the requested torque faster.
Factory-matched specs: Stock openpilot uses unoptimized values for Mazda platforms. zoompilot sets steering ratio, mass, wheelbase, and lag to Mazda’s real figures, then refines them against thousands of miles of driving data.

How much steering torque your electric power steering can apply, by speed.

zoompilot — the motor's full measured strength
stock openpilot — one fixed cap, the same at every speed
shaded band — the difference: up to 44% more torque, no hardware mods
about 30 mph — both reach the car's own limit, sharing one dashed line from there

The ceiling and the cap are measured. Source: the lateral tune measurement record.

The measurement record: steering on the wiki.

radar cruise enhancements

sunnypilot’s cruise systems were rewritten for Mazda. One system manages your set speed — not several features fighting for control.

Intelligent-Cruise-Button-Management (ICBM): The core system. It lets zoompilot manage your cruise set speed safely.
Speed-Limit-Assist (SLA): Adjusts your cruise speed automatically when you pass a speed sign. Uses nav SD or OpenStreetMap data, with optional +/- offsets.
Smart Cruise: Slows the car before a curve and speeds up again afterward, using vision or map data.
Deceleration Overshoot (Alpha): Mazda's stock cruise (MRCC) reacts slowly before a turn. This drops the set speed earlier, so the car slows in time.

Deep dives on the wiki: ICBM, SLA, smart cruise.

fix annoyances

Place hands on wheel alert: On 2022+ cars, logs show the LKAS_BLOCK alert does not actually stop steering. zoompilot turns that false alert off. Real faults still warn you.
Steering override hysteresis: A pothole can look like you tugging the wheel. zoompilot filters that out, with the same override filter Tesla and Rivian use.

wire up sensors

Your CX-5 ships with sensors the stock port ignores. zoompilot wires them in.

Forward radar: Reads distance, angle, and closing speed for up to four cars ahead.
Blind-spot monitors: Feeds blind-spot data into openpilot for optional automatic lane-change safety checks.
Speed-limit signs: Reads speed signs via the LKAS camera (requires a nav SD card) to power Speed-Limit-Assist.

Live readouts: sensor readouts on the wiki.

alpha longitudinal

openpilot takes full control of the gas and brakes instead of Mazda’s stock radar cruise.

warning · safety features disabled

Alpha longitudinal turns the car’s radar off. Automatic Emergency Braking (AEB) and forward collision alerts are DISABLED while it is on.

Experimental mode: The openpilot model drives the gas and brakes directly. It can brake for stop signs and lights. It often holds below the set speed.
Expect dash errors and safety issues: If your dash throws cruise, LKAS, or radar errors, turn the car completely off for 15 minutes to reset.

Credit: Alex Frutkin (@yummydirt) did the heavy lifting on the reverse engineering and implementation for this feature.

Read the alpha longitudinal page and the safety page before enabling.

additional Mazdas covered

zoompilot runs on every supported Mazda platform — CX-5, CX-9, Mazda 3, and Mazda 6 — and steers to zero wherever a 2022-25 CX-5 electric power steering (EPS) motor is fitted, factory or swapped. The table is synced from the wiki's supported-cars page.

model	year	steer-to-zero	alpha longitudinal
CX-5	2022–2025	✓	✓
	2017–2021	with swap	✓
	2016.5	with swap	?
CX-8	2023	✓	?
CX-9	2021–2023	with swap	✓
	2016–2020	with swap	?
Mazda 3	2017–2018	with swap	?
Mazda 6	2017–2021	with swap	?

✓ — Works as the car ships. with swap — Works once a 2022-25 CX-5 EPS motor is swapped in. See EPS swap. ? — Expected to work, not yet validated on that platform. The Mazda 3 and Mazda 6 are community-reported only, with fewer test miles than the CX-5 and CX-9. Alpha longitudinal includes stop-and-go, so it's recommended to have an EPS capable of steering to a standstill. On a stock older EPS, the steering stops below about 28 mph (45 kph) — the motor's low-speed lockout. While alpha longitudinal is on, the stock radar and automatic emergency braking (AEB) are off.

is my mazda supported?

model model year

EPS-swap detection and the upstream support tables: supported cars on the wiki.

how it compares

zoompilot is a fork of sunnypilot, which is a fork of openpilot. Here is what that stack adds to a 2022+ EPS Mazda.

capability	openpilot	sunnypilot	zoompilot
LKAS + ACC on the 2022+ EPS Mazdas	✓	✓	✓
Unified cruise management (ICBM)	—	✓	✓
Speed-Limit-Assist and curve-speed Smart Cruise	—	✓	✓
Speed-dependent torque across seven learned bands	—	—	✓
EPS-rail-aware limits and cliff-exact friction	—	—	✓
Torque command rate (units per frame)	10	10	12
Measured steer-to-zero on the 2022+ EPS	—	—	✓
Steer-to-zero on an EPS swap, with your car's own specs	—	—	✓
VIN + EPS fingerprinting (finds a swapped-in motor)	—	—	✓
Mazda alpha longitudinal (radar and AEB off while on)	—	—	✓exp
Mazda sensors wired in: radar, blind spots, speed signs	—	—	✓
Mazda alert fixes (LKAS_BLOCK, override hysteresis)	—	—	✓

What each project ships for the 2022+ EPS Mazdas today. zoompilot is a fork of sunnypilot, so it keeps every sunnypilot feature — the right column adds the Mazda work on top. Alpha longitudinal stays experimental: while it is on, the radar is off and AEB is disabled. Feature sources: the zoompilot wiki and the upstream support tables.

questions

The ones the Discord answers most. Every answer links to the page with the full story.

Which cars does zoompilot cover?

The CX-5 2022–2025 is the primary target, with full support on the CX-9 2021–2023. The other Mazda platforms in the support list run on the stock steering envelope: CX-5 2017–2021, CX-9 2016–2020, and — on community reports — the Mazda 3 2017–2018 and Mazda 6 2017–2021. Older Mazdas gain steer-to-zero with the steering motor from a 2022-25 CX-5 swapped in — fingerprinting identifies the motor by its firmware. Supported cars on the wiki.

What hardware do I need?

A comma 3X or comma 3 with the Mazda harness and mount. Nothing else — the whole install happens on the device, with no computer.

How do I install it?

Factory-reset the device first, then choose the custom software option and enter zoompilot/main. The first boot takes a few minutes. The full walkthrough: install on the wiki.

How is it different from sunnypilot or openpilot?

zoompilot is a Mazda-optimized fork of sunnypilot. On top of sunnypilot's features it adds the Mazda work: steering torque learned across seven speed ranges, limits that follow what the motor can really do, steering to 0 mph, VIN and EPS fingerprinting, the Mazda cruise and alert fixes, and the car's own sensors wired in. On a swapped EPS the difference is sharpest: zoompilot enables steer-to-zero by identifying the motor, while sunnypilot needs the CX-5 2022-25 platform selected by hand — which applies CX-5 steering ratio, wheelbase, and mass to your car. The compare table lays it out.

Does it cost anything?

No. zoompilot is an open-source fork, free to install. You provide the comma device. Star the repo if it serves you well.

Is it safe?

It is experimental Level-2 driver assistance: you drive, follow the law, and carry all the risk. Driver monitoring stays active. One caveat matters most: with alpha longitudinal enabled, the car's radar is turned off — no AEB, no forward collision alerts. Read the safety page before enabling it.

Do updates arrive on their own?

Yes. On the zoompilot/main release channel the device repoints itself at the next start. A develop branch exists for daily work, but it is less tested.

My dash shows cruise, LKAS, or radar errors. Now what?

Turn the car completely off for 15 minutes to reset. If it keeps happening, update to the latest release, then ask on Discord with your release version and a route ID. The troubleshooting page covers the starter fixes.

recommended setup

You can manage almost everything directly on the device.

Torque control steer by request, not by angle
Self-tune learns your car's steering
Speed-dependent self-tune seven speed ranges, tuned per range
Custom tune keep off unless you know why
Manual real-time keep off

tap the toggles — this is the real settings screen

Factory-reset before installing. Clear out stale settings from previous forks.
Pick a driving model. Firehose is a good default. DTRv6 is a favorite, and CD210 works well with alpha longitudinal.
Enable self-tune. Ensure torque control, self-tune, and speed-dependent self-tune are on.
Leave custom tune off. Keep custom tune and manual real-time off.

Every toggle, explained: settings on the wiki.

install

custom software url

zoompilot/main

enter for custom install URL

This is experimental software. You drive the car, follow the law, and carry all the risk.

The full walkthrough, step by step: install on the wiki.

first drive

Everything below happens on the road, not on a computer. A few checks first, then you engage exactly like openpilot.

Before you engage: Clean the windscreen in front of the road camera. Mount the device high and centered, where driver monitoring can see your face. Read the safety page, and know how to cancel: the brake pedal or the cancel button.
Engaging: Set the cruise with the stock steering-wheel controls while driving above the minimum speed. On 2022+ EPS Mazdas the minimum speed is 0 mph — the car steers from a stop.
What to expect: Steering should feel confident at low speed and calm on the highway. The speed-dependent torque learns your specific motor over the first drives, and self-tune keeps improving in the background. You do not need to touch anything.
If anything feels wrong: Cancel and pull over. Most problems are a settings drift or a stale install; the troubleshooting page covers the starter fixes before you ask on Discord.

Driving feedback with routes attached is the most useful contribution there is: report how the car drives, or read first drive on the wiki.

changelog

204f529566 · 2026-10-16

2026.09.12-14 latest 2026-09-12 #
- Adjustments to address LKAS errors.
- TJA switched off fully. On cars with TJA/CTS, zoompilot now switches off TJA fully so it doesn’t take over when you disengage zoompilot. This also addresses related “Front Camera System Malfunction” errors.
- More Mazdas. Added 2023 CX-8 support and 2012-16 CX-5 alpha longitudinal support with a compatible steering rack swap. Older Mazdas now appear in the car picker.
- TJA button setting in sunnylink. You can now change the “TJA button” setting through sunnylink.
- Alpha longitudinal only.
  - Fixes for not being able to engage after a restart or force offroad.
  - The alpha longitudinal toggle is offroad only, to avoid cruise lockouts and dash errors.
  - A new startup alert tells you when alpha longitudinal is ready.
  - If you pull away before setup finishes, it will try to enable again at the next stop.
  - Added support for older G46L radars with a compatible steering rack swap. Lead detection uses the camera.
2026.09.07-13 2026-09-07 #
- Fixes bugs.
  - Fixes the install for comma 3X users. Upstream sunnypilot stopped prebuilding the camera warps for the 3X during the Chestnut changes.
2026.09.07-12 2026-09-07 #
- Fixes bugs.
  - Enables the full zoompilot steering enhancements for users without a steer-to-zero EPS.
  - Fixes the “Posenet Speed Invalid” error some users had on new installs. This is an upstream sunnypilot bug.
  - Upstream sunnypilot Chestnut fixes.
  - Fixes the “Controls Mismatch: Lateral” error when enabling alpha longitudinal with brake pedal presses.

older releases (7)

2026.09.05-11 2026-09-05 #
New steering tune, Smart Cruise reimplemented, Alpha Longitudinal stop-and-go fixed I feel like this is the most smooth and clean release yet. I’m very proud of the improvements and recommend anyone be on the latest release.
- Speed-dependent torque tune v2 is the default. Rewritten on the v0 base. It turns in earlier for curves and reduces oscillations and micro-adjustments on the highway. v0 and v1 are unchanged if you prefer them.
- Mazda torque limits in openpilot. The controller follows the EPS’s measured torque ceiling at each speed and winds down at the rate the EPS accepts. More torque at low speed, steadier steering on the highway.
- Lane Change Smoothing. New toggle under Steering settings. Lane changes are slower and smoother, with a configurable pace. Off by default.
- Smart Cruise Vision reimplemented. A new solver plans the slowdown for the whole curve from the model path and the map. It slows earlier, reaches the target speed at the apex more accurately, and returns to your set speed sooner. It also corrects the model’s under-read of curves far ahead and no longer commits to false slowdowns on highway bends.
- Deceleration Overshoot front-loaded. The extra deceleration is requested at curve entry, where the stock cruise is slowest to respond.
- ICBM restores your set speed sooner. After a curve or a speed zone the dash is walked back within about a second. A press of yours hands control back at once, and a speed limit prompt can no longer bank an overshoot.
- TJA button as the MADS switch. New toggle under Steering, MADS. When on, the wheel’s TJA button is the only steering switch and MRCC main only controls cruise. Off by default.
- Fixed the camera’s LKAS error. Pushing against the wheel at low speed could get the torque command rejected by the panda until the EPS gave up and the camera faulted. The controller and panda now agree on the limits.
- Fixed steering engaging on its own at startup. MADS armed lateral before the panda did, which also dropped steering for two seconds with an LKAS error. Both arm on the same frame now, steering disengages when MRCC main is turned off, and you get a warning if the panda has not armed.
- Fixed the false “Steering Assist Temporarily Unavailable” on launch. A brisk pull-away from a stop no longer trips the alert.
- Alpha longitudinal only.
  - Stop-and-go resumes on its own. Two root causes fixed. The car reported a stock cruise standstill under openpilot longitudinal, which pinned the controller in stopping forever, and the resume pulse carried a bad checksum that faulted the camera every time. The car now pulls away when the lead departs, without the SCBS warnings afterwards.
  - Smoother acceleration. Throttle builds at close to the stock rate, lifts off gently, and uses the same ceiling as stock at each speed. The harsh push-off is gone, and the pull-away from a hold is gentler.
  - Cruise arms on a driver button only. openpilot no longer arms cruise by itself after the radar hand-back.
  - The toggle applies at a standstill. Flipping alpha longitudinal or force offroad while rolling used to take the device offroad under a moving car.
  - Stock camera frames pass through when disengaged. The dash behaves like stock while openpilot is off.
  - Offered on any Mazda with the 2022-25 CX-5 EPS. Not just the CX-9 swap. The pre-2021 CX-9 is excluded.
  - A full review of the longitudinal stack: radar hand-back, hold release and fault handling are all more robust.
- Device.
  - Fingerprinting is VIN-first. Export VINs fall back to the engine and EPS firmware.
  - Steering Arc and Display Turn Signals are hidden on the comma 4, where they do nothing.
  - Force offroad follows upstream again, and a noisy ignition signal no longer flickers the device on and off road.
  - The torque pickers show the value that is actually set.
  - No more offline update nags.
- Synced sunnypilot as of 2026-09-03. See the sunnypilot docs.
  - Initial support for Chestnut and big models. The eGPU’s big model downloads and runs next to the on-device model, with a fallback to the small model when the big one is not ready, an alert when it is, and an eGPU icon in the sidebar and on the home screen.
  - Model Selector upgrades. Your selection is kept per catalog when Chestnut is plugged or unplugged.
  - Downloaded maps can be deleted from sunnylink.
  - The sunnylink pill moved and was restyled in comma 4 settings.
  - Scrolling labels run at the right speed on non-60 Hz screens.
  - Two openpilot syncs: UI cleanups and Chestnut power fault logging.
2026.09.05-10 2026-09-05 #
New steering tune, Smart Cruise reimplemented, Alpha Longitudinal stop-and-go fixed I feel like this is the most smooth and clean release yet. I’m very proud of the improvements and recommend anyone be on the latest release.
- Speed-dependent torque tune v2 is the default. Rewritten on the v0 base. It turns in earlier for curves and reduces oscillations and micro-adjustments on the highway. v0 and v1 are unchanged if you prefer them.
- Mazda torque limits in openpilot. The controller follows the EPS’s measured torque ceiling at each speed and winds down at the rate the EPS accepts. More torque at low speed, steadier steering on the highway.
- Lane Change Smoothing. New toggle under Steering settings. Lane changes are slower and smoother, with a configurable pace. Off by default.
- Smart Cruise Vision reimplemented. A new solver plans the slowdown for the whole curve from the model path and the map. It slows earlier, reaches the target speed at the apex more accurately, and returns to your set speed sooner. It also corrects the model’s under-read of curves far ahead and no longer commits to false slowdowns on highway bends.
- Deceleration Overshoot front-loaded. The extra deceleration is requested at curve entry, where the stock cruise is slowest to respond.
- ICBM restores your set speed sooner. After a curve or a speed zone the dash is walked back within about a second. A press of yours hands control back at once, and a speed limit prompt can no longer bank an overshoot.
- TJA button as the MADS switch. New toggle under Steering, MADS. When on, the wheel’s TJA button is the only steering switch and MRCC main only controls cruise. Off by default.
- Fixed the camera’s LKAS error. Pushing against the wheel at low speed could get the torque command rejected by the panda until the EPS gave up and the camera faulted. The controller and panda now agree on the limits.
- Fixed steering engaging on its own at startup. MADS armed lateral before the panda did, which also dropped steering for two seconds with an LKAS error. Both arm on the same frame now, steering disengages when MRCC main is turned off, and you get a warning if the panda has not armed.
- Fixed the false “Steering Assist Temporarily Unavailable” on launch. A brisk pull-away from a stop no longer trips the alert.
- Alpha longitudinal only.
  - Stop-and-go resumes on its own. Two root causes fixed. The car reported a stock cruise standstill under openpilot longitudinal, which pinned the controller in stopping forever, and the resume pulse carried a bad checksum that faulted the camera every time. The car now pulls away when the lead departs, without the SCBS warnings afterwards.
  - Smoother acceleration. Throttle builds at close to the stock rate, lifts off gently, and uses the same ceiling as stock at each speed. The harsh push-off is gone, and the pull-away from a hold is gentler.
  - Cruise arms on a driver button only. openpilot no longer arms cruise by itself after the radar hand-back.
  - The toggle applies at a standstill. Flipping alpha longitudinal or force offroad while rolling used to take the device offroad under a moving car.
  - Stock camera frames pass through when disengaged. The dash behaves like stock while openpilot is off.
  - Offered on any Mazda with the 2022-25 CX-5 EPS. Not just the CX-9 swap. The pre-2021 CX-9 is excluded.
  - A full review of the longitudinal stack: radar hand-back, hold release and fault handling are all more robust.
- Device.
  - Fingerprinting is VIN-first. Export VINs fall back to the engine and EPS firmware.
  - Steering Arc and Display Turn Signals are hidden on the comma 4, where they do nothing.
  - Force offroad follows upstream again, and a noisy ignition signal no longer flickers the device on and off road.
  - The torque pickers show the value that is actually set.
  - No more offline update nags.
- Synced sunnypilot as of 2026-09-03. See the sunnypilot docs.
  - Initial support for Chestnut and big models. The eGPU’s big model downloads and runs next to the on-device model, with a fallback to the small model when the big one is not ready, an alert when it is, and an eGPU icon in the sidebar and on the home screen.
  - Model Selector upgrades. Your selection is kept per catalog when Chestnut is plugged or unplugged.
  - Downloaded maps can be deleted from sunnylink.
  - The sunnylink pill moved and was restyled in comma 4 settings.
  - Scrolling labels run at the right speed on non-60 Hz screens.
  - Two openpilot syncs: UI cleanups and Chestnut power fault logging.
2026.09.05-9 2026-09-05 #
New steering tune, Smart Cruise reimplemented, Alpha Longitudinal stop-and-go fixed I feel like this is the most smooth and clean release yet. I’m very proud of the improvements and recommend anyone be on the latest release.
- Speed-dependent torque tune v2 is the default. Rewritten on the v0 base. It turns in earlier for curves and reduces oscillations and micro-adjustments on the highway. v0 and v1 are unchanged if you prefer them.
- Mazda torque limits in openpilot. The controller follows the EPS’s measured torque ceiling at each speed and winds down at the rate the EPS accepts. More torque at low speed, steadier steering on the highway.
- Lane Change Smoothing. New toggle under Steering settings. Lane changes are slower and smoother, with a configurable pace. Off by default.
- Smart Cruise Vision reimplemented. A new solver plans the slowdown for the whole curve from the model path and the map. It slows earlier, reaches the target speed at the apex more accurately, and returns to your set speed sooner. It also corrects the model’s under-read of curves far ahead and no longer commits to false slowdowns on highway bends.
- Deceleration Overshoot front-loaded. The extra deceleration is requested at curve entry, where the stock cruise is slowest to respond.
- ICBM restores your set speed sooner. After a curve or a speed zone the dash is walked back within about a second. A press of yours hands control back at once, and a speed limit prompt can no longer bank an overshoot.
- TJA button as the MADS switch. New toggle under Steering, MADS. When on, the wheel’s TJA button is the only steering switch and MRCC main only controls cruise. Off by default.
- Fixed the camera’s LKAS error. Pushing against the wheel at low speed could get the torque command rejected by the panda until the EPS gave up and the camera faulted. The controller and panda now agree on the limits.
- Fixed steering engaging on its own at startup. MADS armed lateral before the panda did, which also dropped steering for two seconds with an LKAS error. Both arm on the same frame now, steering disengages when MRCC main is turned off, and you get a warning if the panda has not armed.
- Fixed the false “Steering Assist Temporarily Unavailable” on launch. A brisk pull-away from a stop no longer trips the alert.
- Alpha longitudinal only.
  - Stop-and-go resumes on its own. Two root causes fixed. The car reported a stock cruise standstill under openpilot longitudinal, which pinned the controller in stopping forever, and the resume pulse carried a bad checksum that faulted the camera every time. The car now pulls away when the lead departs, without the SCBS warnings afterwards.
  - Smoother acceleration. Throttle builds at close to the stock rate, lifts off gently, and uses the same ceiling as stock at each speed. The harsh push-off is gone, and the pull-away from a hold is gentler.
  - Cruise arms on a driver button only. openpilot no longer arms cruise by itself after the radar hand-back.
  - The toggle applies at a standstill. Flipping alpha longitudinal or force offroad while rolling used to take the device offroad under a moving car.
  - Stock camera frames pass through when disengaged. The dash behaves like stock while openpilot is off.
  - Offered on any Mazda with the 2022-25 CX-5 EPS. Not just the CX-9 swap. The pre-2021 CX-9 is excluded.
  - A full review of the longitudinal stack: radar hand-back, hold release and fault handling are all more robust.
- Device.
  - Fingerprinting is VIN-first. Export VINs fall back to the engine and EPS firmware.
  - Steering Arc and Display Turn Signals are hidden on the comma 4, where they do nothing.
  - Force offroad follows upstream again, and a noisy ignition signal no longer flickers the device on and off road.
  - The torque pickers show the value that is actually set.
  - No more offline update nags.
- Synced sunnypilot as of 2026-09-03. See the sunnypilot docs.
  - Initial support for Chestnut and big models. The eGPU’s big model downloads and runs next to the on-device model, with a fallback to the small model when the big one is not ready, an alert when it is, and an eGPU icon in the sidebar and on the home screen.
  - Model Selector upgrades. Your selection is kept per catalog when Chestnut is plugged or unplugged.
  - Downloaded maps can be deleted from sunnylink.
  - The sunnylink pill moved and was restyled in comma 4 settings.
  - Scrolling labels run at the right speed on non-60 Hz screens.
  - Two openpilot syncs: UI cleanups and Chestnut power fault logging.
2026.08.25-8 2026-08-25 #
- Fingerprint Mazdas on VIN and EPS. Supports more Mazda models more reliably by using the VIN for fingerprinting. EPS fingerprinting determines whether an EPS-swapped car can steer to zero. By @mzdnick.
- zoompilot branding in the UI. By @mzdnick.
- Speed-limit assist on metric cars. Fixed reading speed limits on cars set to km/h.
- Updated speed-dependent torque seeds. Refreshed the seeds using the latest learned values from a tuned CX-5. Self-tune may converge a little faster now.
- Comma 4 toggles for new sunnypilot features. Screensaver and road edge lane change.
- Synced sunnypilot as of 2026-08-24. See the sunnypilot docs.
  - Block lane changes at road edge. Prevents a lane change from activating when the road’s edge is detected.
  - Jerk-aware steering. A torque controller that tries to solve for jerky steering. This doesn’t seem to improve anything for Mazdas; it hurts performance because speed-dependent torque already solves for this.
  - Support for comma’s chestnut eGPU.
  - The driving path changes color with what the car is doing and keeps its width when you override with gas or steering.
  - The “openpilot unavailable” flash at startup is fixed.
  - New screensaver function.
  - Switching models no longer asks to reset calibration.
  - AGNOS 19.6.
- Alpha longitudinal only.
  - Improved stop and go, but not totally fixed. Cruise may disengage after stopping for a lead car.
  - The bogus “Cruise Fault: Restart the Car” on a cold start is gone. The fault alert now only fires when the radar genuinely drops out mid-drive.
  - Fixed canceling cruise whilst braking. Thank you @mzdnick.
  - Alpha longitudinal enabled on EPS-swapped models (CX-9).
2026.08.02-5 2026-08-02 #

Alpha longitudinal handoff More reliable handoff when you override acceleration with the pedal, and more reliable stop and hold.
2026.08.01-4 2026-08-01 #
First release on the zoompilot channel zoompilot has its own home, its own build, and the biggest batch of changes yet.
- New home, new install URL. The fork lives at zoompilot/zoompilot and installs from zoompilot/main. If you are already running zoompilot you don’t need to do anything: your device repoints itself on its next start.
- Prebuilt releases. Every release is built ahead of time on a real comma device, so installing no longer means sitting through the better part of an hour of compiling.
- Alpha longitudinal on the CX-5. openpilot can drive the gas and brakes on the CX-5 2022-25. Read section 05 first: it shuts the stock radar down, which takes automatic emergency braking and forward collision alerts with it.
- Torque control out of the box. Fresh installs on Mazdas with a 2022-25 CX-5 EPS arrive with torque control, self-tune, and speed-dependent self-tune already on.
- Fresher steering seeds. The CX-5 2022 starting values come straight off a real car’s learned data, so a new install steers like a tuned car much sooner.
- Cruise buttons, rebuilt. The speed you set is the speed you get back after every curve and speed zone, down to the exact number. Confirming a speed limit is one tap and the answer sticks. Press a button mid-adjustment and zoompilot hands control straight back. Big changes hold the button down the way you would.
- Cruise features under one roof. Speed-limit assist and smart cruise now work the same way whether the stock radar or openpilot has the gas and brakes, and a speed limit prompt no longer nudges your set speed while you are still deciding.
- Latest sunnypilot and openpilot. New alert sounds and softer driver monitoring nags. Lane changes arm right away if your blinker is already on. Map-based curve slowdowns are more accurate, map hiccups no longer trip false warnings, the false NO PANDA flash on screen wake is gone, and you can switch software branches from the device screen.
- Leaner install. Setup no longer downloads a 1.8GB driving model the device never uses.
2026-07-04 #
Smart cruise and EPS swaps Curve slowdowns get usable, and older Mazdas join in with a swapped-in CX-5 motor.
- Smart cruise decel overshoot. New alpha toggle. The Mazda ECU is slow to obey a lower set speed, so this asks for more than the model wants and gets the deceleration the curve needs.
- ICBM fixes. Fixed set-speed desync with the stock ECU and the target-chasing oscillation. Button presses are suppressed while you press yours, and pacing adapts to how far the target is.
- EPS swap support. A 2022-25 CX-5 steering motor in an older Mazda fingerprints by its firmware and steers to a stop.
- Upstream sync. Merged sunnypilot master and the opendbc upstream into zoompilot.