What you need

This page covers everything needed to run NAP on a 2012–2014 pre-Autopilot Model S. Required items get you lane-keeping with stock-cruise-based speed control. The optional items add longitudinal control, lead-car following, and stop-and-go.

Required hardware

1. A 2012–2014 pre-Autopilot Tesla Model S

The car must be a pre-AP vehicle with no Autopilot ECU. See Supported cars if you are unsure whether your car qualifies.

2. A comma device (or compatible)

NAP runs on the comma 3, comma 3X, and comma 4. If you already have one, you're set. The device mounts behind the rear-view mirror on an adhesive mount and contains the cameras (forward-facing and driver-monitoring), the processing unit, the panda (the CAN interface board), and the cellular modem.

If you're buying today, comma no longer sells the 3X, so the options are:

• konik ($729, konik.ai) — a comma 3X-compatible device. Plenty of members run one and like it. For EU buyers it also avoids the VAT and import charges that come with ordering from comma.
• comma 4 ($950, comma shop) — comma's current device, supported by NAP.

The older comma two and EON are not supported. See EON-era hardware if you have one of those devices and want the history.

3. An OBD2 connection adapter

The comma device connects to the car at the OBD2 port in the driver footwell, through an adapter that supplies power and routes the CAN buses to the device. The OBD-C adapter is sold as part of the Model S preAP kit at xnor.shop. Before ordering, read Connecting to the car to check your port's wiring.

4. Mount and cable

The comma 3X ships with an adhesive windshield mount. You will need a USB-C cable long enough to route from the mirror area down the A-pillar to the footwell — approximately 2 meters (6–7 feet). Not all USB-C cables carry the required power and data; use a cable rated for the application. The comma shop sells appropriate cables, or look for a Thunderbolt 3 / USB4 rated cable at that length.

Optional hardware

The items below expand what NAP can do. None are required to get a working installation.

Comma Pedal

The Comma Pedal is a small interceptor board that sits inline between the accelerator pedal connector and the car's throttle controller. With it installed, NAP controls throttle directly rather than relying on stock cruise control, which enables:

• Adaptive cruise down to walking speed (vs. the ~18 mph floor of stock CC)
• Smoother acceleration and following behavior
• The ability to engage at any speed above ~1 mph

The pedal does not add friction braking — see Safety and limitations. You configure pedal mode in the NAP settings panel after installation.

Bosch radar

The Bosch radar is a retrofit of the same forward radar Tesla used in AP1 cars, mounted behind the front nosecone. With it, NAP tracks lead cars by radar rather than camera vision alone, which improves following accuracy and reduces latency.

There's no kit to buy — you source the parts yourself. Used radar units run about $85–150 on eBay (that's how most of us got ours), and the wiring harness comes from AliExpress. Part numbers are on the Bosch radar page.

This is a more involved installation — it requires removing the front bumper to access the mounting point and run harness wiring. The radar must be VIN-learned to the car after installation; NAP has a VIN learn tool built into the settings panel.

iBooster (stop-and-go) — not currently available

The iBooster is a retrofit of the electric-hydraulic brake booster that Tesla introduced with AP1. In the Tinkla era, paired with a controller ECU from SGH Innovations and a Comma Pedal, it gave the software the ability to apply friction brakes.

SGH Innovations is out of business and the controller ECU can no longer be bought. NAP support is in the works — the team wants to reverse-engineer the controller — but there's no timeline and no promise it will happen. Don't plan an install around it. Read the iBooster page for where things stand.

Summary table

Item	Required	Source
2012–2014 pre-AP Model S	Yes	Your driveway
comma 3 / 3X, konik, or comma 4	Yes	konik.ai ($729) or comma.ai shop ($950)
OBD2 connection adapter	Yes	Model S preAP kit, xnor.shop
USB-C extension cable (~2 m)	Yes	comma shop or electronics retailer
Comma Pedal	No — but recommended	BearTech or community-made
Bosch radar (used) + harness	No	eBay ($85–150) + AliExpress
iBooster	No — not currently available	See iBooster