FAQ

Will NAP work on my 2015 Model S?

No. The 2015 Model S shipped with Autopilot hardware (HW1) — it is an AP1 car, not a pre-AP car. NAP is specifically for 2012–2014 pre-Autopilot Model S vehicles. HW1 and later cars are covered by the xnor wiki, and the SunnyPilot-TeslaHW1 fork works on AP1 cars; see AP1 / AP2 Teslas for the history of Tinkla's work on those cars.

Can NAP stop the car?

Not with friction brakes. Pre-AP Model S cars have vacuum-assisted brakes with no electronic actuation. NAP decelerates using regenerative braking only — the same regen the car uses when you lift off the accelerator. That is enough for gradual slowdowns on the highway, but it is not enough for a hard stop if traffic slows suddenly in front of you.

NAP cannot apply the brakes. You are the brakes. Keep your foot close and stay alert.

The possible future exception is the iBooster retrofit — replacing the vacuum booster with the electric-hydraulic unit Tesla used in AP1 and later cars. iBooster support in NAP is being worked on, but it is not promised and may not happen: the controller ECU that made it work in the Tinkla era came from SGH Innovations, which is no longer in business. See iBooster stop-and-go for where things stand. For now, assume NAP will never friction-brake.

Do I need the Comma Pedal?

No, but understand what you get without it: lane centering plus your car's plain, fixed-speed cruise control. NAP engages and cancels stock cruise for you, but it never adjusts the speed — there is no adaptive following in no-pedal mode. Stock cruise also only operates above roughly 18 mph (29 km/h).

The pedal is an interceptor board that goes inline on the accelerator pedal connector. With it installed, NAP controls the throttle directly: real adaptive cruise that follows traffic from walking speed (down to about 1 mph for throttle, 5 mph for regen deceleration). If you want the car to manage its own speed at all, you want the pedal.

What does the pedal actually get me over no-pedal mode?

Adaptive cruise, full stop. Without the pedal, NAP does not manage speed at all — stock cruise holds whatever you set, and slowing for traffic is your job. With the pedal, NAP follows a lead car, adjusts speed continuously, and works down to a crawl instead of stock cruise's 18 mph floor.

If you used Tinkla: Tinkla faked adaptive cruise in the no-pedal setup by spamming stalk commands at the stock CC. NAP deliberately dropped that — constantly injecting synthesized stalk presses is a safety risk we're not comfortable with. It may come back later if it can be done safely; for now, adaptive cruise means a pedal.

See Longitudinal control and Pedal interceptor for more detail.

Does it work with MCU2?

Yes, with one caveat. NAP works fine on MCU2 cars for all its core functions — lane keeping, adaptive cruise, forward collision warning, driver monitoring. The only thing that did not work on MCU2 was the Tinkla Buddy instrument cluster integration, which relied on an MCU1-specific CAN connection and is now a historical artifact anyway. See Tinkla Buddy.

If you have MCU2 and are wondering whether to proceed, the answer is yes.

Is this legal? Is it safe?

NAP is experimental research software, for academic or research purposes only. It is alpha-quality open-source software operating your car's steering, provided as-is with no warranty of any kind, and it is not certified or approved for use on public roads. By running it you accept full responsibility for your vehicle and everything it does.

On legality: NAP is not certified for use on public roads, and operating it on public roads may be unlawful in your jurisdiction — you are responsible for knowing your local rules. Wherever the vehicle operates, a licensed, attentive driver remains in control at all times.

On safety: there is a standalone panda safety mode (tesla_preap) with steering angle and rate limits, hands-on override detection, EPAS error detection, door and gear checks, and stalk-cancel handling. But the braking limitation is real, the software is experimental, and the car was never designed for any of this. Treat it as a tool that helps — never one that takes over.

Before anything else, read the NotAutopilot safety page — it is required reading. Then read Safety and limitations for the wiki-level detail. All of it.

Will this void my warranty? Will Tesla service give me trouble?

Pre-AP Model S cars are 12 years old or more. They are well outside any original factory warranty period. Extended warranties vary, but most people in this community are not carrying active warranty coverage. The practical warranty concern is minimal.

As for Tesla service: technicians have seen all manner of aftermarket modifications on older vehicles. Having a comma device connected to the OBD2 port is unlikely to cause a service refusal, but Tesla is under no obligation to work on a modified car. If you need service, disconnecting the harness takes about ten seconds. What you disclose to the service center is your call.

What happened to Tinkla?

Tinkla was boggyver's project — the original proof that openpilot could work on a pre-AP Model S. It ran from roughly 2018 to 2024, accumulated an enormous amount of CAN knowledge, shipped the OBD-C adapter, Tinkla Buddy, and the radar kit, and built the community that NAP grew out of. Development eventually quieted down, as happens with volunteer projects of this scale, and the last active branch stopped receiving updates. NAP picked up the torch to keep pre-AP cars supported on current comma hardware. Everyone here owes Tinkla a debt, and boggyver would be welcome back any time.

The full story is at Tinkla project.

What happened to the old Tinkla wiki?

It went offline when the project wound down. The old wiki was a MediaWiki instance at tinkla.us; it is no longer accessible. This wiki was written to replace it, drawing on scraped copies of the old content combined with current NAP documentation.

Some information from the old wiki describes hardware or procedures that no longer apply (EON, the OBD-C adapter as primary connection, SSH-based installs). Where that is the case, the current approach is documented in the main pages and the historical approach lives in the history section.

Can I use an EON or comma two?

No. Support for comma two and EON ended in April 2022. NAP runs on the comma 3, comma 3X, and comma 4.

If you're buying a device today: comma no longer sells the 3X. Your options are the comma 4 ($950) or the konik.ai clone ($729), a comma 3X-compatible device that a lot of members run and like. For EU buyers konik also avoids the VAT and import charges that come with ordering from comma. See Comma device.

How much does a full setup cost, roughly?

Starting from scratch, approximately:

Item	Approximate cost
konik device (konik.ai)	$729
— or comma 4	$950
OBD2 connection adapter	preAP kit, xnor.shop
USB-C extension cable	~$20
Comma Pedal (optional, recommended)	~$100
Bosch radar, used (optional)	~$85–150
Radar harness (optional)	varies

The baseline — device, adapter, cable — lands somewhere around $800–900 with a konik. Add the pedal and you're near $950. The radar is cheaper than people expect (most of us bought used units off eBay for $85–150) but the install is the involved part: front bumper comes off, and you'll source a harness from AliExpress. The iBooster path is not currently available — the controller ECU it depended on is no longer made; see iBooster stop-and-go.

Does it self-park or change lanes automatically?

Automatic lane change (ALC) is available. With the turn signal held, NAP checks for adjacent lane space and initiates a lane change when it looks clear. It is not magic — it relies on cameras and radar (if installed) and can decline the change if it is not confident. Your job is to verify the lane is actually clear before holding the signal.

Self-parking, summon, navigate-on-autopilot, automatic freeway on/off-ramps — none of that exists. NAP is a lane-centering and adaptive-cruise system. It follows a lane on a road where lane markings are visible. Anything beyond that is outside its scope.

Where do updates come from?

NAP uses the same OTA update mechanism as stock openpilot. When an update is available on the nap-release branch, the comma device downloads and installs it automatically when connected to Wi-Fi. You can see the current version and check for updates under Software in the device settings.

Run nap-release. Don't run nap-alpha unless you've specifically agreed to test something — it carries unvalidated changes. And never run nap-dev: it's the development branch and it breaks regularly, sometimes in ways that leave the device unusable until reflashed. See Branches and updates.

I already have Tinkla installed. What do I do?

Uninstall Tinkla first — don't just swap the fork URL on top of it. Remove the existing install from the device (Settings → Software → Uninstall, or a full device reset), then go through openpilot setup again and point it at NAP when asked for Custom Software:

https://installer.comma.ai/NotAutopilot/nap-release

Your Tinkla configuration will not carry over. Go through the NAP settings panel afterward to set up pedal mode, radar, and driving profiles. And note the no-pedal behavior is different from what you're used to: NAP does not stalk-spam the stock cruise the way Tinkla did, so without a pedal you get fixed-speed cruise, not adaptive.