NAP settings panel

Open the NAP settings panel from Settings → NAP on the comma device. The panel is organized into six sections. Most changes take effect immediately; the ones that need a reboot will prompt you.

All settings that require the device to be parked (offroad) are grayed out while driving.

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Longitudinal control

Pedal Interceptor (toggle)

Enables the Comma Pedal hardware for direct throttle control. Off by default. Flip this on only if a Comma Pedal is physically installed in the car — turning it on without the hardware will prevent NAP from engaging. Requires a reboot to take effect.

When this is off, NAP runs in no-pedal mode: it steers, and the stock Tesla cruise control handles speed.

Adaptive Accel Limits (toggle)

When enabled, NAP reduces its acceleration ceiling when close behind a lead car. The idea is to prevent the system from lunging toward a slowly moving target and then overcorrecting with regen. On an open road or when closing a large gap, the full driving-profile ceiling applies. Default is on.

Follow Distance (1–7 buttons)

Sets the time-gap follow distance to the lead car. 1 is the closest; 7 is the most relaxed. Default is 4. If your car has the cruise stalk, stalk up/down adjustments override this setting while driving.

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Pedal hardware

This section is only relevant if a Comma Pedal is installed.

Pedal CAN Bus (Bus 0 / Bus 2 buttons)

Tells NAP which CAN bus the pedal is connected to. Bus 2 is the default and matches the standard install through the OBD-C adapter's RJ45 port. Bus 0 is for installs where the pedal is wired in via another path (such as a JST connection on CAN0). Requires a reboot. If you're not sure which bus your pedal uses, Bus 2 is almost certainly right.

Pedal Calibration (status display)

Shows Calibrated or Not Calibrated. NAP will not engage pedal-mode longitudinal control until this reads Calibrated. After hardware install, run the calibration routine below.

Calibrate Pedal (button)

Launches the pedal calibration routine. The car must be stationary with the ignition on, in Neutral, and with the brake pedal held. Do not press the accelerator during calibration. The routine measures the pedal's zero position, maximum position, and scale factor, then saves the result to params. Only available when parked.

See Comma Pedal for the full calibration procedure.

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Radar

Radar Enabled (toggle)

Enables the Bosch radar for lead-car detection and adaptive following. Off by default. Do not turn this on unless a radar is physically installed and has completed the VIN learn process — enabling it without hardware will stop NAP from functioning. Requires a reboot.

Radar Behind Nosecone (toggle)

Apply a signal-attenuation adjustment when the radar is mounted behind the nosecone rather than on an external bracket. Requires a reboot. Leave this off if the radar is mounted in the open (external bumper bracket). Turn it on for the common 3D-printed factory-location mount behind the nose.

See Bosch radar for the mounting options.

Radar Lateral Offset (button, opens keyboard)

A lateral offset in meters added to the radar's yRel reading. Negative shifts reported targets toward the left; positive toward the right. The displayed value shows the current offset with a +/- sign and two decimal places. Example: -0.27 is typical for the 3D-printed factory-location mount where the radar sits slightly off-center.

Enter the value via the on-screen keyboard. The field clamps to ±2.0 m.

Calibrate Radar (button)

Displays filtered radar points to help align the radar horizontally. Place a calibration target 3–10 m ahead, centered on the car's axis, and adjust the radar aim until the target shows a lateral offset near 0.0 m. Only available when parked.

Test Radar (button)

Shows live radar detections with distance and relative velocity — useful for verifying the installation or debugging unexpected alerts. Only available when parked.

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iBooster / Braking

Both items in this section are grayed out (not implemented). iBooster support is in the works but not promised — the SGH Innovations controller ECU the retrofit depended on is no longer made, and the team intends to reverse-engineer a replacement path with no timeline attached.

• iBooster Enabled — will enable electronic braking when an iBooster ECU is present.
• Brake Factor — will control braking aggressiveness (0.5x / 1.0x / 1.5x / 2.0x presets).

See iBooster / stop-and-go for the retrofit's current status.

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Advanced

Force Pre-AP Mode (toggle, always on)

Forces the system to treat the vehicle as a pre-Autopilot Model S. This is permanently locked to the on position in the settings panel — NAP sets it internally and does not allow it to be disabled from the UI. It exists as a visible indicator that the mode is active, not as something you change.

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Actions

These buttons launch procedures that modify firmware or reset stored state. All require the device to be parked except Emergency Disable.

Backup EPAS (Extract button)

Reads the current EPAS firmware image off the steering ECU and saves a local copy without flashing anything. Run this before any flash operation so you have a known-good backup. Car must be on with key fob inside and foot on brake.

Flash EPAS (Flash button)

Patches the EPAS ECU firmware to allow NAP to command steering. Required once on initial install and again if a Tesla software update re-locks the EPAS. This modifies your steering system — read the full warning screen before proceeding. Car must be on and 12 V battery healthy. A power loss during the flash can brick the EPAS module. See EPAS firmware.

Restore EPAS (Restore button)

Reflashes the EPAS ECU with the image saved during Backup EPAS, returning the steering ECU to stock firmware. Use this if you're uninstalling NAP or if a flash went wrong. Same power precautions as Flash EPAS apply.

Emergency Disable (Disable button)

Immediately disables the pedal interceptor flag and clears the calibration. Does not require the car to be parked. Use this if the pedal is behaving unexpectedly and you need to cut NAP's throttle authority right now. A device restart is required for the change to take effect. Calibration will need to be re-run before pedal mode can be used again.

Reset to Defaults (Reset button)

Restores all NAP settings to their factory defaults. The confirmation screen warns that this cannot be undone. Only available when parked.

Default values are: Pedal disabled, Adaptive Accel on, Follow Distance 4, Pedal CAN Bus 2, Radar disabled, Radar Offset 0.0 m.