With my adapter and OpenPilot branch the two systems fully coexist. You can enable either OpenPilot or AP1 at any point. As for benefits of OP vs AP1:
- OP works on any roads, even unmarked
- OP does not drive into trees or veers you off the road when driving over a hill and can’t see the road ahead.
- OP has smoother longitudinal control (speed ) with no phantom braking
- OP does not require you to touch the steering wheel, it just monitors your eyes that you pay attention to the road (though the nag on AP1 can be removed
)
- OP continues to improve and will soon have drive on maps