Hello,
I’ve been researching compatibility for Comma devices (comma 3X and comma 4) with the goal of understanding whether my vehicle is realistically supported before making a ~$1k–$2k purchase. As most people (hopefully) do.
When trying to not be another "does it work for me" person I started going through official documentation. It is obvious that BluePilot is THE software to use for Ford (amazing job!), but after that I ran into the consistent issue:
There isn't a clear answer to "Is MY vehicle supported?"
I am sure there have been countless issues and conversations over that exact phrase.
Most of the information is fragmented across various places:
- Comma's official support matrix (which may say “not supported” or not have specific year make and model)
- GitHub documentation
- Discord discussions
- Forum posts where users report success with specific configurations
This (obviously) makes it difficult to confidently determine if something will work before spending a good amount of money.
Additionally, there are the questions of:
- Whether a vehicle is supported at all
- What exact hardware is required (e.g., coupler, harness, comma 3X vs comma 4)
- What level of support to expect (experimental vs stable)
Because of this, I started researching and reading many places documenting what people said so I can see if someone had "my" vehicle to know if it will work.
From that, I was able to then have Claude refine and double check my chaotic notes. I was also able to do the same thing for the Mach-E and have it structured as an “Is my vehicle supported?” table matrix thing.
I believe this could help bring new users in, prevent "support" issues/discussions and fit very well somewhere on the BluePilot.dev site
- I didn't see that sites docs in the repo otherwise I probably would have made a PR
Anyway (sorry I ramble), here is that information if I'm not character limited.
Let me know if you would like further docs or things I have related to this, but this should cover everything I think.
Support Matrix
F-150 Lightning
Model Year, Trim, and Battery configuration
All F-150 Lightning model years (2022–2025) are confirmed free of TRON encryption and are compatible with Comma hardware. This is a critical distinction from the ICE F-150, which gained TRON starting with the 2024 model year. The Lightning uses Ford's CAN-FD bus (Q4 harness) and requires Co-Pilot360 Assist 2.0 or equivalent ACC capability.
2022 F-150 Lightning
| Trim |
Battery |
Supported |
Software |
Harness |
Hardware |
Confirmed By |
Notes |
| Pro |
SR (98 kWh) |
YES* |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
*Only if ACC equipped (not standard on Pro; DIY retrofit ~$800) |
| Pro |
ER (131 kWh) |
YES* |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
*ACC required |
| XLT |
SR (98 kWh) |
YES* |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
*ACC depends on options pkg |
| XLT |
ER (131 kWh) |
YES* |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
*ACC depends on options pkg |
| Lariat |
SR (98 kWh) |
YES |
BluePilot / SunnyPilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
ACC standard on Lariat |
| Lariat |
ER (131 kWh) |
YES |
BluePilot / SunnyPilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
Drayday55 (f150lightningforum, 7,000+ mi, C3X); BrandenFlasch (C3X, BP 5.0, 800+ mi); anonymous user (Atlas Blue, Max Tow, C3X) |
First Lightning user to get Comma working; pioneered harness modification |
| Platinum |
ER (131 kWh) |
YES |
BluePilot / SunnyPilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
ACC standard |
2023 F-150 Lightning
| Trim |
Battery |
Supported |
Software |
Harness |
Hardware |
Confirmed By |
Notes |
| Pro |
SR (98 kWh) |
YES* |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
*ACC required, not standard on Pro |
| Pro |
ER (131 kWh) |
YES* |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
*ACC required |
| XLT 311A |
SR (98 kWh) |
YES |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
Naveen (f150gen14, C3X, DIY ACC add) |
311A package; required DIY ACC addition |
| XLT |
ER (131 kWh) |
YES |
BluePilot / SunnyPilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
BennyTheBeaver (f150lightningforum, C3X, 23k+ mi); WaterWiz (C3X, stock OP then BluePilot) |
BennyTheBeaver: "It's my favorite accessory on my truck" |
| Lariat |
SR (98 kWh) |
YES |
BluePilot / SunnyPilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
ThomasNC (f150lightningforum, C3X) |
"I've had the Comma 3x the whole time I've had my Lightning" |
| Lariat |
ER (131 kWh) |
YES |
BluePilot / SunnyPilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
LSUT1GER (30k+ mi truck); astrand1 (C3X, BP 3.0, loaded Lariat); PJnc284 (C3X); thunderbayterry (C3X, 20k mi with Comma); UncleTony (C3X, coupler developer) |
Multiple long-term confirmations |
| Platinum |
ER (131 kWh) |
YES |
BluePilot / SunnyPilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
ACC standard |
2024 F-150 Lightning
Early reports falsely suggested 2024 Lightnings had TRON. BluePilot developer Ajzride confirmed NO TRON after CAN message analysis: "The first two trucks that tried Comma wouldn't work and we assumed it was TRON, but the next 4 have worked."
| Trim |
Battery |
Supported |
Software |
Harness |
Hardware |
Confirmed By |
Notes |
| Pro |
ER (131 kWh) |
YES* |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
*ACC required |
| Pro SSV |
ER (131 kWh) |
YES |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
B177y (C3X, BP 3.0, Max Tow, detailed install guide post #403) |
"This device is truly amazing! What a game changer." |
| XLT |
ER (131 kWh) |
YES* |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
*ACC depends on options |
| Flash |
ER (131 kWh) |
YES |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
EVO/Randy (C3X, BP 4.0→5.0); Shmoe/Alex (C3X, BP 4.0, resolved with coupler); anonymous user (ER Max Tow 9.6kW, C3X, "working just fine") |
EVO: BP 5.0 "corrected my ping-pong" |
| Lariat |
ER (131 kWh) |
YES |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
ACC standard |
| Platinum |
ER (131 kWh) |
YES |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
ACC standard |
2025 F-150 Lightning
Confirmed TRON-free by developer Ajzride on July 10, 2025, via CAN message analysis of oafydude28's 2025 Flash: "8-byte messages. No TRON for 2025 Lightning."
| Trim |
Battery |
Supported |
Software |
Harness |
Hardware |
Confirmed By |
Notes |
| Pro |
ER (131 kWh) |
YES* |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
*ACC required |
| Flash |
ER (131 kWh) |
YES |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
oafydude28/Robert (C3, BP 3.1, Feb 2025 build, resolved USB cable issue); chriserx/Chris (2025 Flash Job 2, working) |
oafydude28's issue was faulty USB-C cable, not TRON |
| Lariat |
ER (131 kWh) |
YES |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
Community discussion confirms planning; no blocker |
| Platinum |
ER (131 kWh) |
YES |
BluePilot |
Ford Q4 + Lightning Coupler |
C3X, C4 |
— |
ACC standard |
Lightning prerequisite: All trims require Adaptive Cruise Control with Lane Centering (Co-Pilot360 Assist 2.0). The Pro trim does not include ACC as standard equipment. It can be added via DIY retrofit for approximately $800 (radar module, wiring, Forscan programming). XLT trims may or may not include ACC depending on the options package — verify before purchasing hardware.
Mustang Mach-E: 2021–2024 compatible, 2025+ blocked by TRON
The Mustang Mach-E uses the same CAN-FD platform as the F-150 Lightning. All trims across 2021–2024 are supported, as Ford lists "All" packages as compatible for Mach-E on comma.ai/vehicles. The 2025 Mach-E received the Phoenix Entertainment System and TRON encryption, making it permanently incompatible.
2021–2024 Mustang Mach-E (all compatible)
| Year |
Trim |
Battery |
Supported |
Software |
Harness |
Hardware |
Confirmed By |
| 2021 |
Select / Premium / CR1 / GT / GTPE |
SR (75.7 kWh) or ER (98.8 kWh) |
YES |
BluePilot / SunnyPilot / openpilot 0.9.8+ |
Ford Q4 |
C3X, C4 |
Ajzride (2021 Mach-E, BluePilot developer, daily driver); John/Bruce P. (2021 GTPE, C3X, BluePilot — "feels like it's on rails") |
| 2022 |
Select / Premium / CR1 / GT / GTPE |
SR or ER |
YES |
BluePilot / SunnyPilot / openpilot 0.9.8+ |
Ford Q4 |
C3X, C4 |
Anonymous user (2022 GTPE, C3X, working after USB cable fix) |
| 2023 |
Select / Premium / CR1 / GT / GTPE / Rally |
SR or ER |
YES |
BluePilot / SunnyPilot / openpilot 0.9.8+ |
Ford Q4 |
C3X, C4 |
Anonymous user (2023 Premium, C3X, SunnyPilot); oafydude28 also owns 2023 GT |
| 2024 |
Select / Premium / CR1 / GT / GTPE / Rally |
SR or ER |
YES |
BluePilot / SunnyPilot / openpilot 0.9.8+ |
Ford Q4 |
C3X, C4 |
TRON status list confirms No TRON through 2024 |
2025+ Mustang Mach-E (NOT compatible)
| Year |
Trim |
Supported |
Reason |
| 2025+ |
All |
NO |
TRON encrypted CAN bus (Phoenix Entertainment System). User John/Bruce P. traded his working 2021 GTPE for a 2025 EAWD and confirmed Comma 3X does NOT work. |
Mach-E installation note: The IPMA (Image Processing Module Assembly) on the Mach-E is located in the trunk area, not behind the rearview mirror. This requires routing the included 9.5-foot long OBD-C cable from the trunk to the windshield-mounted Comma device. Use USB 3.2 Gen 2 cables only. Unlike the Lightning, the Mach-E generally does not suffer from the CAN bus reflection/startup error issue (GitHub #30302), so the Lightning Coupler is typically not needed.
TRON encryption: the hard compatibility wall
TRON (Trusted Realtime Operating Network) is Ford's encrypted CAN bus system that began rolling out with the 2023 Super Duty. No workaround exists. Any vehicle with TRON is permanently incompatible with all Comma/openpilot/SunnyPilot/BluePilot software. The presence of Ford's Phoenix Entertainment System (Android Auto-based OS) is a reliable indicator of TRON.
| Vehicle |
No TRON (✅ Compatible) |
TRON (❌ Blocked) |
| F-150 Lightning |
2022–2025 |
Not yet observed |
| Mustang Mach-E |
2021–2024 |
2025+ |
| F-150 (ICE/Hybrid) |
2021–2023 |
2024+ |
| Escape / Escape PHEV |
2023–2025 |
— |
| Expedition / Navigator |
2022–2024 |
2025+ |
| Ranger |
2024–2025 |
— |
| Bronco Sport |
— |
2025+ |
| Explorer / Aviator |
— (Q3 CAN: 2020–2024) |
2025+ |
| Maverick |
— (Q3 CAN: 2022–2024) |
2025+ |
| Super Duty |
Never compatible* |
2023+ |
| Mustang Coupe |
— |
2024+ |
| Transit |
— |
2026+ |
| Lincoln Nautilus |
— |
2024+ |
*Super Duty 2021–2022 lack TRON but their PSCM won't accept lane centering commands. 2023+ have the right PSCM but gained TRON. No Super Duty model year works.
The TRON status list was last updated August 19, 2025. Mid-year refreshes or new model years could introduce TRON to previously unencrypted vehicles. Always verify before purchasing hardware.
Hardware requirements and what to buy
Comma devices
| Device |
Status |
CAN-FD Support |
BluePilot Support |
Notes |
| Comma 4 ($999) |
Currently sold |
Built-in |
BP 6.0 (full support as of March 21, 2026) |
Small screen; use SunnyLink dashboard for remote settings management |
| Comma 3X (~$1,100) |
No longer sold new |
Built-in (Red Panda) |
BP 5.0 and BP 6.0 |
Larger screen; most existing Ford installations use this |
| Comma 3 |
Discontinued |
Requires separate Red Panda ($199) |
Dropped in AGNOS 13.1 / BP 5.0+ |
Will not work with current BluePilot |
| Comma 2 |
Discontinued |
No CAN-FD support |
None |
Incompatible with all Ford vehicles |
Required accessories for F-150 Lightning
- Ford Q4 harness — from comma.ai shop (~$99). Connects to the IPMA grey connector behind the gauge cluster area
- Lightning Coupler ("Uncle Tony's Coupler") — $65 from bluepilot.dev/lightning-coupler-order-page/. A custom USB-C PCB with built-in 360-ohm termination resistors that eliminates the Lightning-specific CAN bus reflection errors (dashboard "Christmas tree" of faults on startup). Without it, the truck throws Traction Control, Park Assist, and One Pedal Drive errors for ~30 seconds on every boot. The Mach-E and ICE F-150 do not need this
- USB-C 3.2 Gen 2 cables — critical specification. Cheap cables missing pins cause CAN bus disconnection errors. Thunderbolt 4 cables are NOT equivalent and may fail
- Comma Power v3 + OBD-C cable (2 ft) — for always-on power
- Mount — 8-degree windshield mount recommended; high mounting increases sway and ping-pong
Wiring path for Lightning: Q4 Harness → Harness Box → USB-C 3.2 Gen 2 cable → Lightning Coupler → USB-C 3.2 Gen 2 cable → Comma 3X/4
Required accessories for Mustang Mach-E
- Ford Q4 harness — same as Lightning
- Long OBD-C cable (9.5 ft, included with Q4 kit) — IPMA is in the trunk; cable routes to windshield
- USB-C 3.2 Gen 2 cables — same spec requirement
- Lightning Coupler generally not needed for Mach-E
- Comma Power v3 + mount + OBD-C cable
Estimated total cost: ~$1,065–$1,165 (Comma 4 at $999 + Q4 harness ~$99 + Lightning Coupler $65 if Lightning)
F-150 Lightning confirmed working
| User |
Year |
Trim |
Battery |
Hardware |
Software |
Miles |
Key Notes |
| Drayday55 (Andre) |
2022 |
Lariat |
— |
C3X |
BluePilot |
7,000+ |
First Lightning install; pioneered harness mod; San Diego (you are awesome) |
| BrandenFlasch (Branden) |
2022 |
Lariat |
ER |
C3X |
BP 2.1→5.0 |
800+ (in 48 hrs) |
"Wife-approved" on BP 5.0 |
| Anonymous |
2022 |
Lariat |
ER (Max Tow) |
C3X |
BluePilot |
— |
Atlas Blue, built 10/22 |
| ThomasNC (Thomas) |
2023 |
Lariat |
SR |
C3X |
BluePilot |
— |
"Had Comma the whole time I've had my Lightning" |
| astrand1 (Alex) |
2023 |
Lariat |
ER |
C3X |
BP 3.0 |
— |
Michigan; initially needed PC Blend tuning |
| PJnc284 |
2023 |
Lariat |
ER |
C3X |
BluePilot |
— |
Garner, NC; Jul 2025 install |
| thunderbayterry (Terry) |
2023 |
Lariat |
ER |
C3X |
BluePilot |
20,000+ |
Thunder Bay, ON; "I absolutely love it!" |
| UncleTony (Tony) |
2023 |
Lariat |
— |
C3X |
BluePilot |
— |
Texas; developed the Lightning Coupler |
| BennyTheBeaver |
2023 |
XLT |
ER |
C3X |
BluePilot |
23,000+ |
"It's my favorite accessory on my truck" |
| WaterWiz (James) |
2023 |
XLT |
ER |
C3X |
openpilot/BP |
— |
Florida; no startup errors (possibly due to XLT simplicity + new Q4 batch) |
| B177y (Bill) |
2024 |
Pro SSV |
ER (Max Tow) |
C3X |
BP 3.0 |
— |
Olympic Peninsula, WA; detailed install guide (post #403); used USB breakout with resistors |
| EVO (Randy) |
2024 |
Flash |
— |
C3X |
BP 4.0→5.0 |
— |
Electrician; BP 5.0 "corrected my ping-pong" |
| Shmoe (Alex) |
2024 |
Flash |
— |
C3X |
BP 4.0 |
— |
Resolved with proper USB cables + coupler |
| Anonymous |
2024 |
Flash |
ER (Max Tow 9.6kW) |
C3X |
BluePilot |
— |
"Working just fine" |
| Anonymous |
2024 |
Flash |
— |
— |
Comma AI |
— |
"No issues using Comma AI" |
| oafydude28 (Robert) |
2025 |
Flash |
— |
C3 |
BP 3.1 |
— |
Twin Cities, MN; Feb 2025 build; issue was faulty USB cable, not TRON |
| chriserx (Chris) |
2025 |
Flash (Job 2) |
— |
Comma |
BluePilot |
— |
Louisiana; cable orientation fix |
F-150 Lightning confirmed issues (resolved or returned)
| User |
Year |
Trim |
Issue |
Resolution |
| ooSHAZAMoo |
2022 |
Lariat ER |
Dashboard faults with standard Q4 harness |
Needed modified harness |
| Anonymous |
— |
— |
"Christmas tree" of errors, overheating |
Returned device |
| oafydude28 |
2025 |
Flash |
CAN errors, safety disabled |
Faulty USB-C cable; replaced with quality USB 3.1 Gen 2 |
| Shmoe |
2024 |
Flash |
Intermittent CAN disconnects |
Wrong cable spec; fixed with USB-C 3.2 Gen 2 + coupler |
Mustang Mach-E confirmed working
| User |
Year |
Trim |
Hardware |
Software |
Notes |
| Ajzride (AJ) |
2021 |
— |
C3X |
BluePilot |
Lead developer; daily driver |
| RyanSD |
2021+ |
— |
C3X |
openpilot |
San Diego; early adopter; documented IPMA trunk location |
| John/Bruce P. |
2021 |
GTPE |
C3X |
BluePilot |
"Feels like it's on rails"; later tried 2025 EAWD → did NOT work (TRON) |
| Anonymous |
2022 |
GTPE |
C3X |
BluePilot |
Working after fixing bad USB-C coupler |
| Anonymous |
2023 |
Premium |
C3X |
SunnyPilot |
Confirmed SunnyPilot easiest out-of-box |
| oafydude28 |
2023 |
GT |
— |
— |
Also owns (alongside 2025 Lightning) |
Mustang Mach-E confirmed NOT working
| User |
Year |
Trim |
Reason |
| John/Bruce P. |
2025 |
EAWD |
TRON encrypted CAN bus; device non-functional |
Hello,
I’ve been researching compatibility for Comma devices (comma 3X and comma 4) with the goal of understanding whether my vehicle is realistically supported before making a ~$1k–$2k purchase. As most people (hopefully) do.
When trying to not be another "does it work for me" person I started going through official documentation. It is obvious that BluePilot is THE software to use for Ford (amazing job!), but after that I ran into the consistent issue:
I am sure there have been countless issues and conversations over that exact phrase.
Most of the information is fragmented across various places:
This (obviously) makes it difficult to confidently determine if something will work before spending a good amount of money.
Additionally, there are the questions of:
Because of this, I started researching and reading many places documenting what people said so I can see if someone had "my" vehicle to know if it will work.
From that, I was able to then have Claude refine and double check my chaotic notes. I was also able to do the same thing for the Mach-E and have it structured as an “Is my vehicle supported?” table matrix thing.
I believe this could help bring new users in, prevent "support" issues/discussions and fit very well somewhere on the BluePilot.dev site
Anyway (sorry I ramble), here is that information if I'm not character limited.
Let me know if you would like further docs or things I have related to this, but this should cover everything I think.
Support Matrix
F-150 Lightning
Model Year, Trim, and Battery configuration
All F-150 Lightning model years (2022–2025) are confirmed free of TRON encryption and are compatible with Comma hardware. This is a critical distinction from the ICE F-150, which gained TRON starting with the 2024 model year. The Lightning uses Ford's CAN-FD bus (Q4 harness) and requires Co-Pilot360 Assist 2.0 or equivalent ACC capability.
2022 F-150 Lightning
2023 F-150 Lightning
2024 F-150 Lightning
Early reports falsely suggested 2024 Lightnings had TRON. BluePilot developer Ajzride confirmed NO TRON after CAN message analysis: "The first two trucks that tried Comma wouldn't work and we assumed it was TRON, but the next 4 have worked."
2025 F-150 Lightning
Confirmed TRON-free by developer Ajzride on July 10, 2025, via CAN message analysis of oafydude28's 2025 Flash: "8-byte messages. No TRON for 2025 Lightning."
Lightning prerequisite: All trims require Adaptive Cruise Control with Lane Centering (Co-Pilot360 Assist 2.0). The Pro trim does not include ACC as standard equipment. It can be added via DIY retrofit for approximately $800 (radar module, wiring, Forscan programming). XLT trims may or may not include ACC depending on the options package — verify before purchasing hardware.
Mustang Mach-E: 2021–2024 compatible, 2025+ blocked by TRON
The Mustang Mach-E uses the same CAN-FD platform as the F-150 Lightning. All trims across 2021–2024 are supported, as Ford lists "All" packages as compatible for Mach-E on comma.ai/vehicles. The 2025 Mach-E received the Phoenix Entertainment System and TRON encryption, making it permanently incompatible.
2021–2024 Mustang Mach-E (all compatible)
2025+ Mustang Mach-E (NOT compatible)
Mach-E installation note: The IPMA (Image Processing Module Assembly) on the Mach-E is located in the trunk area, not behind the rearview mirror. This requires routing the included 9.5-foot long OBD-C cable from the trunk to the windshield-mounted Comma device. Use USB 3.2 Gen 2 cables only. Unlike the Lightning, the Mach-E generally does not suffer from the CAN bus reflection/startup error issue (GitHub #30302), so the Lightning Coupler is typically not needed.
TRON encryption: the hard compatibility wall
TRON (Trusted Realtime Operating Network) is Ford's encrypted CAN bus system that began rolling out with the 2023 Super Duty. No workaround exists. Any vehicle with TRON is permanently incompatible with all Comma/openpilot/SunnyPilot/BluePilot software. The presence of Ford's Phoenix Entertainment System (Android Auto-based OS) is a reliable indicator of TRON.
*Super Duty 2021–2022 lack TRON but their PSCM won't accept lane centering commands. 2023+ have the right PSCM but gained TRON. No Super Duty model year works.
The TRON status list was last updated August 19, 2025. Mid-year refreshes or new model years could introduce TRON to previously unencrypted vehicles. Always verify before purchasing hardware.
Hardware requirements and what to buy
Comma devices
Required accessories for F-150 Lightning
Wiring path for Lightning: Q4 Harness → Harness Box → USB-C 3.2 Gen 2 cable → Lightning Coupler → USB-C 3.2 Gen 2 cable → Comma 3X/4
Required accessories for Mustang Mach-E
Estimated total cost: ~$1,065–$1,165 (Comma 4 at $999 + Q4 harness ~$99 + Lightning Coupler $65 if Lightning)
F-150 Lightning confirmed working
F-150 Lightning confirmed issues (resolved or returned)
Mustang Mach-E confirmed working
Mustang Mach-E confirmed NOT working