Firmware
Tesla Autopilot “nag” complaints prompt upcoming screen alert adjustments
Elon Musk has noted that Tesla would be adjusting the screen alerts on its electric cars, addressing complaints from Model S, Model X, and Model 3 owners about the persistent Autopilot nag in the software’s current iteration.
Musk’s Twitter update came as a response to Peter McCullough, a Tesla owner who aired his grievances about Autopilot v8.1(2018.21.9). According to the Tesla owner, he now needs a “white-knuckle grip” on his car’s steering wheel to get rid of the system’s nags. Musk responded promptly, stating that Tesla would be adjusting its vehicles’ alerts to clarify what drivers need to do to address the system’s warnings.
Will be adjusting screen alert to clarify that we mean “slight up or downward force on the wheel”, not really “hold the wheel”
— Elon Musk (@elonmusk) June 13, 2018
Autopilot nags were introduced back with the rollout of v8.0 in September 2016, and Tesla has been refining its alert system since then. With the recent implementation of v8.1 (2018.21.9), however, Autopilot’s nags have gotten more frequent, with some drivers seeing the “Hold Steering Wheel” prompt 15-20 seconds after they take their hands off the steering wheel.
These were immediately addressed by Tesla’s user base as soon as the update started rolling out. One driver even noted that the increased frequency of the AP nags had discouraged him from using Autopilot altogether, considering that the “Hold Steering Wheel” alert does not disappear even if his hand is gripping the wheel. In response to the complaint, Musk noted that an upcoming update should address the issue.
Sigh. This is crux of matter: can’t make system too annoying or people won’t use it, negatively affecting safety, but also can’t allow people to get too complacent or safety again suffers. Latest update should have a positive effect on latter issue especially.
— Elon Musk (@elonmusk) June 10, 2018
While increasing the frequency of Autopilot’s nags is perceived as an annoyance by a number of Tesla drivers, the driver-assist system’s changes are ultimately designed to maximize safety on the road. If any, most of the complaints about the software’s current iteration seem to stem from a misunderstanding of Tesla’s system in detecting drivers’ interaction with the vehicle. After all, Tesla vehicles’ sensors do not consider the intensity of a driver’s grip on the steering wheel. Instead, the system detects resistance that drivers apply to the steering wheel. This is highlighted in Tesla’s Owner’s Manual for its vehicles (page 81 in the Model S Manual).
“Autosteer detects your hands by recognizing light resistance as the steering wheel turns, or from you manually turning the steering wheel very lightly (i.e., without enough force to retake control). When your hands are detected, the message disappears and Autosteer resumes normal operation.”
A Model 3 owner applies resistance by holding the steering wheel in the 3 o’clock position while Autopilot is engaged. [Credit: zxn11/Reddit]
Tesla owners who have vehicles equipped with Autopilot are set to see a number of considerable improvements to their vehicles’ performance in the coming months. During Tesla’s 2018 Annual Shareholder Meeting, Elon Musk noted that Autopilot’s reliability and capability would increase exponentially over the next 6-12 months. Musk also highlighted that the improvements to the system would be rolled out quickly.
Even more recently, Elon Musk stated that the first Full Self-Driving features of the company’s electric cars would be introduced in August, with the rollout of Software Version 9. During Musk’s announcement, he noted that Autopilot’s resources have so far been focused on increasing safety, but when software Version 9 comes out, Tesla could start enabling FSD features.
The new and upcoming features for Autopilot will not only be enjoyed by owners who bought Tesla’s Enhanced Autopilot system, however. During the shareholder meeting, Musk also confirmed that Autopilot Free Trials would start getting reintroduced “hopefully” by next month, giving drivers who have not purchased the system an opportunity to try out the intelligent driver-assist feature.
Elon Musk
Tesla confirmed HW3 can’t do Unsupervised FSD but there’s more to the story
Tesla confirmed HW3 vehicles cannot run unsupervised FSD, replacing its free upgrade promise with a discounted trade-in.
Tesla has officially confirmed that early vehicles with its Autopilot Hardware 3 (HW3) will not be capable of unsupervised Full Self-Driving, while extending a path forward for legacy owners through a discounted trade-in program. The announcement came by way of Elon Musk in today’s Tesla Q1 2026 earnings call.
🚨 Our LIVE updates on the Tesla Earnings Call will take place here in a thread 🧵
Follow along below: pic.twitter.com/hzJeBitzJU
— TESLARATI (@Teslarati) April 22, 2026
The history here matters. HW3 launched in April 2019, and Tesla sold Full Self-Driving packages to owners on the understanding that the hardware was sufficient for full autonomy. Some owners paid between $8,000 and $15,000 for FSD during that period. For years, as FSD’s AI models grew more demanding, HW3 vehicles fell progressively further behind, eventually landing on FSD v12.6 in January 2025 while AI4 vehicles moved to v13 and then v14. When Musk acknowledged in January 2025 that HW3 simply could not reach unsupervised operation, and alluded to a difficult hardware retrofit.
The near-term offering is more concrete. Tesla’s head of Autopilot Ashok Elluswamy confirmed on today’s call that a V14-lite will be coming to HW3 vehicles in late June, bringing all the V14 features currently running on AI4 hardware. That is a meaningful software update for owners who have been frozen at v12.6 for over a year, and it represents genuine effort to keep older hardware relevant. Unsupervised FSD for vehicles is now targeted for Q4 2026 at the earliest, with Musk describing it as a gradual, geography-limited rollout.
For HW3 owners, the over-the-air V14-lite update is welcomed, and the discounted trade-in path at least acknowledges an old obligation. What happens next with the trade-in pricing will define how this chapter ultimately gets written. If Tesla prices the hardware path fairly, acknowledges what early adopters are owed, and delivers V14-lite on the June timeline it committed to today, it has a real opportunity to convert one of the longest-running sore subjects among early adopters into a loyalty story.
Tesla announced its Spring 2026 software update, and it’s the most feature-dense seasonal release the company has put out. The update covers twelve named changes spanning FSD, voice AI, safety lighting, dashcam storage, and pet display customization, among other things.
The centerpiece for owners with AI4 hardware is a redesigned Self-Driving app. The new interface lets owners subscribe to Full Self-Driving with a single tap and view ongoing FSD usage stats directly in the vehicle.
Grok gets its biggest in-car upgrade yet. The update adds a “Hey Grok” hands-free wake word along with location-based reminders, so a driver can now say “remind me to pick up groceries when I get home” without touching the screen. Grok first arrived in vehicles in July 2025, but each update has pushed it closer to genuine daily utility. Musk framed the broader vision clearly at Davos in January, saying Tesla is “really moving into a future that is based on autonomy.”
On safety, the update introduces enhanced blind spot warning lights that integrate directly with the cabin’s ambient lighting, building on the blind spot door warning that arrived in update 2026.8.
Dog Mode has been renamed Pet Mode and now lets owners choose a dog, cat, or hedgehog icon and add their pet’s name to the display.
Dashcam retention now extends up to 24 hours, up from the previous one-hour rolling loop, with a permanent save option for any clip. Weather maps now show rain and snow with better color differentiation and include the past hour of precipitation data along the route.
Tesla has now established a clear rhythm of two major OTA pushes per year. As with last year’s Spring update, that cycle started taking shape in 2025 with adaptive headlights and trunk customization. The 2025 Holiday Update then added Grok to the vehicle for the first time. This Spring follows that structure: the Holiday update introduces new architecture, and the Spring update broadens it across the fleet.
Two notable features still did not make it. IFTTT automations, which launched in China earlier this year, were held back from this North American release for unknown reasons, and Apple CarPlay remains absent, reportedly still delayed by iOS 26 and Apple Maps compatibility issues.
Below is the full list of feature updates released by Tesla.
— Tesla (@Tesla) April 13, 2026
It appears that Tesla may be preparing to roll out some subscription-based services soon. Based on the observations of a Wales-based Model 3 owner who performed some reverse-engineering on the Tesla mobile app, it seems that the electric car maker has added a new “Subscribe” option beside the “Buy” option within the “Upgrades” tab, at least behind the scenes.
A screenshot of the new option was posted in the r/TeslaMotors subreddit, and while the Tesla owner in question, u/Callump01, admitted that the screenshot looks like something that could be easily fabricated, he did submit proof of his reverse-engineering to the community’s moderators. The moderators of the r/TeslaMotors subreddit confirmed the legitimacy of the Model 3 owner’s work, further suggesting that subscription options may indeed be coming to Tesla owners soon.
Did some reverse engineering on the app and Tesla looks to be preparing for subscriptions? from r/teslamotors
Tesla’s Full Self-Driving suite has been heavily speculated to be offered as a subscription option, similar to the company’s Premium Connectivity feature. And back in April, noted Tesla hacker @greentheonly stated that the company’s vehicles already had the source codes for a pay-as-you-go subscription model. The Tesla hacker suggested then that Tesla would likely release such a feature by the end of the year — something that Elon Musk also suggested in the first-quarter earnings call. “I think we will offer Full Self-Driving as a subscription service, but it will be probably towards the end of this year,” Musk stated.
While the signs for an upcoming FSD subscription option seem to be getting more and more prominent as the year approaches its final quarter, the details for such a feature are still quite slim. Pricing for FSD subscriptions, for example, have not been teased by Elon Musk yet, though he has stated on Twitter that purchasing the suite upfront would be more worth it in the long term. References to the feature in the vehicles’ source code, and now in the Tesla mobile app, also listed no references to pricing.
The idea of FSD subscriptions could prove quite popular among electric car owners, especially since it would allow budget-conscious customers to make the most out of the company’s driver-assist and self-driving systems without committing to the features’ full price. The current price of the Full Self-Driving suite is no joke, after all, being listed at $8,000 on top of a vehicle’s cost. By offering subscriptions to features like Navigate on Autopilot with automatic lane changes, owners could gain access to advanced functions only as they are needed.
Elon Musk, for his part, has explained that ultimately, he still believes that purchasing the Full Self-Driving suite outright provides the most value to customers, as it is an investment that would pay off in the future. “I should say, it will still make sense to buy FSD as an option as in our view, buying FSD is an investment in the future. And we are confident that it is an investment that will pay off to the consumer – to the benefit of the consumer.” Musk said.
Tesla gives HW3 owners another massive update
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