Midwest EV

Pre-AP Tesla openpilot retrofit

Pre-AP openpilot retrofit

Our main project is an openpilot retrofit for Tesla Model S cars built before factory Autopilot.

The build covers the vehicle wiring, custom harnesses, and integration needed to connect openpilot to the car. The video shows the project in more detail.

  • Pre-Autopilot Model S focus
  • Custom wiring and electronics
  • Vehicle setup and road testing

Interested in a retrofit? Tell us about your Model S.

Project photos

Model S
Model S
Road test
Road test
Harness board
Harness board
OBD2 port
OBD2 port
Drive unit and wheel
Drive unit
Subframe on the bench
Bench work
EPAS steering motor
EPAS motor
openpilot display
openpilot display
Drive unit
Drive unit
Battery pack
Battery pack
Modules
Modules
Harness box
Harness box
Night drive
Night drive
More build details

CAN bus tracing, connector pinouts, circuit board design, and harness assembly.

CAN bus topology drawing
CAN topology
OBD2-C connector pinout
Connector pinout
Braided harness cable and connector
Harness cable

Pre-AP retrofit interest

For Model S openpilot retrofit inquiries. You can also email info@jordansteslarepair.com.

Ready to send securely to Midwest EV.

We use what you send only to answer your retrofit question. We do not sell or share it, and we use no advertising or analytics cookies. To ask what we hold about you or to have it deleted, email info@jordansteslarepair.com.

Other workshop projects

We also work on Tesla drive units, battery packs, and custom electronics.

  • Drive unit teardown and rebuild
  • Battery pack and module work
  • Wiring harnesses and circuit boards

The interest form is for the pre-AP retrofit project.