Install

Before you go any further, read the NotAutopilot safety page. It is required reading before you install or drive with NAP.

Installation has two parts: getting the hardware onto the car, and loading the NAP software onto the comma device. Neither requires opening the car's firmware or running shell commands. Everything that used to require SSH is now handled in the UI.

Physical installation

Mount the comma device

The comma 3X attaches to the windshield with an adhesive mount. Position it behind the rear-view mirror, roughly centered on the windshield, so the forward-facing camera has a clear view of the road and the driver-monitoring camera can see your face.

Tips that prevent headaches:

• Clean the glass with isopropyl alcohol before applying the adhesive. Oils from handling leave a film that will weaken the bond over time.
• Press one edge of the mount first, then roll the rest down to avoid trapping air bubbles under the adhesive pad.
• Let the adhesive cure 24–48 hours before attaching the device and stressing the mount. Keep the mount shaded during this time — heat and UV slow the initial cure.
• Do not install on a cold windshield. Below about 50°F (10°C) the adhesive may not bond properly.

Route the cable

Run the USB-C cable from the mirror area down the driver-side A-pillar and across the footwell to the OBD2 port area. The A-pillar trim panel lifts off with a trim pry tool after removing the airbag cover; tuck the cable against the headliner as you go.

The OBD2 port on pre-AP Model S is in the driver footwell. Plug your OBD2 adapter into the port, then connect the USB-C cable to the back of the comma device. See Connecting to the car for adapter options and port checks.

See Connecting to the car for a full wiring walkthrough, chassis CAN pin verification, and connector details.

If you have a Comma Pedal

The Comma Pedal installs inline at the accelerator pedal connector under the driver-side dash. The harness runs alongside or inside the A-pillar cable path down to the footwell. See Pedal interceptor for the specific connection points and calibration procedure.

If you have a Bosch radar

Radar installation is covered on the Bosch radar page — it requires front bumper removal and is a separate project from the basic comma install.

Software installation

Load NAP onto the comma device

Power the device by connecting it to the car (it draws power from the OBD2 port through the adapter). On first boot, the setup wizard offers two paths: "Dashcam software" and "Custom Software (Advanced)."

Choose Custom Software (Advanced), then enter the NAP install URL:

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

The device downloads and installs the software. This takes a few minutes; a working cellular connection or Wi-Fi hotspot is needed. The nap-release branch is the stable production branch for daily use. See Branches and updates for the branch overview.

If the device already has software installed (Dashcam or a previous openpilot fork), go to Settings → Software, scroll down to "Uninstall," and remove the existing install first. The device will reboot to the setup wizard. This applies to Tinkla installs too — uninstall Tinkla and start clean rather than swapping the fork URL on top of it.

First boot and fingerprinting

When NAP starts for the first time with the car connected, it will attempt to identify your car from CAN traffic. This is called fingerprinting. Drive above roughly 15 mph (25 km/h) for a minute or two — fingerprinting completes quickly once there is speed data on the CAN bus.

If the car is not recognized automatically, the NAP settings panel has a "Force PreAP Tesla Model S" toggle. See Fingerprinting for how the process works and what to do if it fails.

EPAS firmware setup

Before NAP can steer the car, the EPAS (electric power steering) controller needs to be patched to accept external steering commands. This is done from the NAP settings panel — no SSH required.

With the car on (brake pedal held) and the comma device connected and booted:

1. Go to Settings → Tesla preAP.
2. Scroll to "Flash EPAS" and tap it.
3. Hold the brake to keep the car in the on state throughout the process.
4. Wait for the confirmation, then reboot the device and exit the car so it powers down fully.

After the car comes back up, the EPAS is ready. Some instrument cluster warnings may appear during the flash — these clear on reboot.

See EPAS firmware for which firmware variants exist, what the patch does, and what to do if the flash fails.

Pedal and radar setup (if installed)

If you have a Comma Pedal, the firmware may need to be flashed to the Tesla-specific version. The NAP settings panel has a "Flash Pedal" option that handles this. After flashing, run the pedal calibration procedure from the same settings section before driving.

If you have a Bosch radar, use the "VIN Learn" tool in settings to associate the radar with the car's VIN. The radar position (behind nosecone or behind grille) is set here as well.

Both of these procedures are covered in detail on the Pedal interceptor and Bosch radar pages.