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Emergency Vehicle Detection

On HW4 vehicles with FSD v14, the firmware can enable Approaching Emergency Vehicle Detection.

How It Works​

The firmware sets the detection enable bit in CAN message 1021, mux 0, which activates the vehicle's ability to detect and respond to approaching emergency vehicles.

CAN Message Details​

CAN IDMuxBitValueDescription
10210591Enable detection

Configuration​

This feature is optional and must be explicitly enabled in sketch_config.h:

#define EMERGENCY_VEHICLE_DETECTION

Requirements​

  • HW4 vehicle only
  • FSD v14 (firmware 2026.2.9.X or later)
  • EMERGENCY_VEHICLE_DETECTION define enabled in configuration