Note: While the 2019-2022 Corolla is listed on https://comma.ai/vehicles, it's not clear that comma.ai only supports the automatic transmission version from their list. With some modifications, manual transmission versions of these Corollas can be supported.

Image from Hooniverse

This is an automated repository that patches comma.ai openpilot's nightly-dev and sunnypilot's release, staging, dev, and staging-tici branches to support 2019-2022 6MT manual transmission TSS2 Corollas. See the References section for more information on the source branches.

Efforts to upstream support for 2019-2022 6MT manual transmission TSS2 Corollas have stalled, with a principal developer of the 2019-2022 Corolla 6MT manual transmission TSS2 support unable to contribute additional time for upstreaming (join the comma Discord).

Discussion about this repository can be found in the comma.ai openpilot Discord in the 2019-2022 6MT Corolla Thread underneath #toyota-lexus. Note: You must first join the comma Discord using the invitation link above before you can access the specific Discord channel links. If you have questions, please ask there, but not before reading this documentation, of course!

A GitHub Actions workflow runs on a daily schedule to:

1. Clone the latest versions of openpilot and sunnypilot.
2. Apply the necessary patches from the /patches directory.
   • Force the vehicle to be identified as a 2019-2022 TSS2 Corolla.
   • Modify the openpilot's car state tracker to accept the 2019-2022 6MT manual transmission TSS2 Corolla's speed lockout.
3. Force-push the patched codebases to the op-nightly-dev, sp-release-tizi, sp-staging, sp-dev, and sp-staging-tici branches in this repository.
4. Two usable scenarios:

• The devices running these branches will then get notified of an update and prompt the user to reboot to install the latest patched version, if there are any changes.
• Users can install these branches on their comma three family devices using the instructions below.

Users can install a patched version of openpilot or sunnypilot on a comma three family device from this repository.

1. Reset the comma three device. You can do this by tapping on the screen during bootup, uninstalling the software from the Settings menu, or using https://flash.comma.ai.
2. Choose Custom Software when installing the software.
3. In the text field, enter the following:
   • sunnypilot - The community of 2019-2022 6MT TSS2 Corolla users recommend this for users with MADS pre-enabled
     • comma 3X:
       • op201920226mtcorollaug/sp-release-tizi (Recommended)
       • op201920226mtcorollaug/sp-staging
       • op201920226mtcorollaug/sp-dev
     • comma 3:
       • op201920226mtcorollaug/sp-staging-tici
   • comma.ai openpilot - Patched version of comma's software, kept around more for upstreaming preview and testing than actual usage
     • comma 3X:op201920226mtcorollaug/op-nightly-dev
     • comma 3: Not supported
     • If you have comma hardware issues, it's possible that comma might be lenient with you if you use this for support, but it's really not guaranteed. It's best to switch the device to using comma's unpatched codebase in dashcam mode if you have hardware issues for support.

5. That's it, you're done! The device will install the patched version of openpilot or sunnypilot.
6. This repository will automatically pull down and patch from upstream software and push to itself so you will get prompted to reboot for updates once in a while.

• There is no stop and go in 6MT TSS2 Corollas.
• OP activates in gears > 1st and at > ~18mph. Below that, everything disengages (unless using sunnypilot, where only ACC disengages).
• See this video for how it behaves in comma openpilot: https://youtu.be/ITxknEpp9R8
• Sunnypilot with MADS behaves differently.
  • WITHOUT MADS (like in comma openpilot): You can’t engage anything under 18 mph and whenever you engage it over 18 mph, you are also engaging adaptive cruise control
  • WITH MADS (a sunnypilot setting, on by default): In slower traffic you can still keep the steering assist enabled so you just have to control speed/shifting gears

• This repository can and might break. Please discuss the issue in the thread linked above.
• This repository may become obsolete as upstream support may be added to openpilot or sunnypilot. Please check the thread linked above for updates.
• Last but not least, if you have the skills to help upstream support for this Corolla, please seriously consider picking up where bscholer left off, using the changes in this repo as guidance. As it stands, comma will not support hardware issues with your comma device while using these changes.

• comma.ai openpilot branches: https://github.com/commaai/openpilot?tab=readme-ov-file#branches
• sunnypilot branches: https://community.sunnypilot.ai/t/recommended-branch-installations/235