Never one to held back by such limitations as "it'll be too expensive and complicated", accomplished Tesla hacker wizkid057 has done the unthinkable: he's retrofitted Tesla's Autopilot system into a pre-Autopilot 2014 Tesla Model S P85. When Autopilot was introduced in late 2015, only new editions of the Model S were equipped with the hardware needed for the self-driving system. When asked about upgrading existing cars, Tesla admitted that while it would technically be possible, they wouldn't be offering such a service due to its prohibitive cost. So with his wife's old Model S as a test platform, [wizkid057 put that to the test](http://skie.net/skynet/projects/tesla/view_post/14_Autopilot+Retrofit+on+Classic+P85_.
The end result is an impressive feat of software and mechanical skills. He had to replace or modify numerous parts throughout the car, including the windshield, as well as perform several software tweaks — some sensitive enough that he doesn't want to talk about them — but in the end he was driving the only 2014 Model S with Autopilot.
So how complicated was it? We'll let wizkid057 say it for himself:
Honestly I'm not going to do it again. It requires the ability to modify the vehicle's internal configuration and the ability to calibrate and VIN-burn various modules once they're installed and wired ... Don't expect to go into Tesla and start demanding they retrofit autopilot. It's not going to happen. It's way too much work, and way too involved. Also, if Tesla were to do it they would be replacing basically every wiring harness/fuse box in the car vs. making some modifications like I did, which would be even more work and extremely expensive.
He ended up spending around $9,000 in parts (including some pulled from salvage vehicles instead of direct from Tesla) and the installation of the new windshield. More importantly from a cost perspective, it took roughly 50 hours of direct labor, not including advance research, planning, and the creation of custom wiring harnesses. Not to mention that he's likely obliterated every warranty on the car.
Still, it's an incredibly impressive project, even if it's not for the faint of heart.