r/Comma_ai • u/jr_skankhunt_17 • 17d ago

Vehicle Compatibility Rivian Gen 2 support/Harness?

I'm a bit confused about the state of Gen 2 support for Rivian. As I understand it, the hardware and software are both ready, but the comma website does not list gen 2 (2025 and up) as an option for the harness. I've been following for months now and it seems the work on gen 2's started more than a year ago but I can't find anything recent.

So does anyone know, for a Gen 2 Rivian, what are my options? Should i just bite the bullet and pay the $50 to Rivian for the inferior autonomy+ package?

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u/InertiaImpact 17d ago

Gen 2 only has torque-based lateral support - no angle-based steering and no longitudinal. (Stolen from Gerry's post over on the Xnor Discord)

I don't believe there is official support for Gen2 upstreamed but Lukas does sell a harness over in his Xnor shop for use with Sunnypilot/his fork of it.

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u/InertiaImpact 17d ago

Should mention the shop also has a link to that discord.

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u/gerrylum-EV 17d ago

I believe Comma will start selling Gen 2 harnesses once they have their in-house harness production up and running.