Supported cars¶
zoompilot targets Mazdas with the 2022+ electric power steering (EPS) rack. Support depends on which rack your car has, not just the model year.
Supported vehicles¶
| Car | Status | Notes |
|---|---|---|
| CX-5 2022–2025 | Full support, primary target | Every zoompilot feature. Steering works down to 0 mph. |
| CX-9 2021–2023 | Full support | Factory-matched specs included. Speed-dependent torque needs more learning time, because the starting seeds come from a CX-5. |
| Older Mazdas with a swapped 2022+ CX-5 EPS rack | Supported | The rack is identified by its firmware during fingerprinting. Steering works down to 0 mph, and alpha longitudinal is enabled. |
How EPS swaps are detected¶
zoompilot fingerprints your car from the VIN first, then from the EPS firmware. The EPS fingerprint tells zoompilot whether the car can steer to zero. This is how an older Mazda with a swapped rack gets full steering. The design notes are in Mazda fingerprinting.
Upstream support tables¶
For the upstream compatibility table and required harness parts per car,
see docs/CARS.md
in the zoompilot repository. It follows the openpilot support table format.
Not sure about your car?
Ask in the zoompilot Discord. Include your model year and, if you can, whether the EPS rack is original.