Tire Pressures when Towing
When towing a trailer, tire pressures must be adjusted to accommodate the additional load. Keep tires inflated to the pressures
shown below (these pressures override the pressures that are provided on the Tire and Loading information label):
Front Tires

Rear Tires

Cold Tire Inflation Pressure

245/45R19

245/45R19

45 psi (310 kPa)

255/45R20

275/45R20

46 psi (320 kPa)

285/35ZR22

50 psi (345 kPa)

265/45R20

265/35ZR22

WARNING: Check tire pressures using an accurate pressure gauge when tires are cold. Driving one mile (1.6 km) warms
the tires sufficiently to affect tire pressures. Parking the vehicle in direct sunlight or in hot weather can also affect tire
pressures. If you must check warm tires, expect increased pressures. Do not let air out of warm tires in an attempt to
match recommended cold tire pressures. A hot tire at or below the recommended cold tire inflation pressure is
dangerously under-inflated.
WARNING: Never attempt to tow a trailer when a Model X tire is faulty or has been inflated using a tire repair kit. A
temporarily repaired tire is not designed to sustain the towing load. Towing using a faulty or temporarily repaired tire can
result in tire failure and loss of vehicle stability.
Before Towing a Trailer
Before towing a trailer, you must do the following:
• Inflate tires to the cold tire inflation pressure specified in Tire Pressures when Towing.
• Set Suspension to Standard height (touch Controls > Suspension > Standard).
• Observe all regulations and legal requirements in your state/region that apply to trailer towing. Failure to comply with
regulations can compromise your safety.
• Adjust side mirrors to provide a clear rearward view without a significant blind spot.
• Engage Trailer Mode (see Trailer Mode on page 272).
Confirm the following:
• Model X rests horizontally with the trailer attached. If the vehicle is tipped up at the front, and down at the rear, check that
you are not exceeding the maximum towing capacity and tongue loads provided in Carrying Capacity.
• All trailer hitch parts and attachments , safety chains, and electrical connectors are in good condition and are properly
connected. If any problems are apparent, do not tow the trailer.
• Trailer lights (brake lights, turn signal lights, and marker lights) are working properly.
• The trailer tongue is securely connected to the hitch ball.
• Safety chains are properly connected between the trailer and the tow vehicle. Cross the safety chains under the tongue of
the trailer to help prevent the tongue from contacting the road if it separates from the hitch. Leave enough slack in the
safety chains to allow for turns and ensure that the chains can never drag on the ground.
• All cargo is secured.
• Wheel chocks are available.
• The trailer load is evenly distributed such that the trailer tongue weight is approximately 10% of the total trailer weight,
without exceeding the maximum tongue weights provided in Carrying Capacity.
• If the trailer is equipped with a separate braking system, check that the brakes work and are properly adjusted. To provide
safe stopping ability, you must balance the trailer brakes with the vehicle brakes.
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NOTE: For general information about trailer safety provided by the National Highway Traffic Safety Administration, go to:
http://www.nhtsa.gov/cars/problems/Equipment/towing/Towing.pdf.
WARNING: The trailer tongue weight must be approximately 10% of the total trailer weight without exceeding the
maximum tongue weights provided in Carrying Capacity. Loads that are balanced over the wheels or heavier in the rear
can cause trailer sway, resulting in loss of vehicle control.
WARNING: Always ensure that cargo is secured in the trailer and will not shift. Dynamic load shifts can cause loss of
vehicle control, resulting in serious injury or death.
Trailer Mode
Trailer Mode must always be active when towing a trailer. When you connect a trailer's electrical connection, Model X
automatically engages Trailer Mode. When you disconnect the trailer's electrical connection, Trailer Mode disengages. To
engage or exit Trailer Mode manually, touch Controls > Pedals & Steering > Trailer Mode on the touchscreen. One of the
following indicators display on the instrument panel:
Trailer Mode is active.

Model X detects a connection for trailer lights but Trailer Mode is disabled. It is likely that a carrying accessory
has been connected.

Model X detects a faulty electrical connection for the trailer lights. Some, or all, trailer lights may not be
functioning. Pull over as soon as safety permits and inspect the trailer lights for faulty cabling or connections. If
the issues are resolved and the red icon still persists, turn Trailer Mode off and on again.

NOTE: In situations where Model X detects a heavy load, it assumes that a trailer is connected and automatically engages
Trailer Mode. A message displays on the instrument panel informing you that Trailer Mode has been engaged. When Trailer
Mode is entered automatically due to detection of a heavy load, you can change the Trailer Mode setting only by stopping
Model X, engaging Park or Neutral, then manually applying the parking brake using the touchscreen (Controls > Safety >
Parking Brake).
Some Autopilot features (Autosteer, Summon, Lane Assist, etc.), as well as rear parking sensor functionality, may not be
available when Trailer Mode is enabled. In addition, some features may operate differently. For example:
• Traffic-Aware Cruise Control increases the following distance from the car in front of you.
• The air suspension system will not make speed-based adjustments from STANDARD to LOW.
• The air suspension system does not automatically raise ride height based on saved locations.
• Side collision warnings are active but automatic steering interventions are disabled.
• The braking force provided by Automatic Emergency Braking (see Collision Avoidance Assist on page 340) is significantly
limited.
WARNING: Do not rely on Model X to detect the trailer and automatically engage Trailer Mode. Always check that Trailer
Mode is engaged before towing a trailer.
WARNING: Under no circumstances should you exit Trailer Mode when towing a trailer. Doing so can cause serious
injury and/or death.
WARNING: Do not use the suspension setting to appropriately match the height of the hitch with the height of the trailer.
You must choose a trailer hitch and trailer that have the appropriate height for suitable axle loading and trailer balance.
Trailer Brakes
When towing a loaded trailer that weighs more than 1000 lbs (450 kg), Tesla recommends that the trailer be equipped with its
own brake system adequate for the weight of the trailer. Ensure compliance with local regulations. A brake controller must be
purchased separately, and the required 4-pin pigtail connector can be ordered from Tesla Service.
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Follow these steps to connect a brake controller:
1. Connect the wiring on the brake controller to the appropriate locations on the 4-pin pigtail connector.

1 - Brake control output to trailer
2 - Ground
3 - Brake On Signal
4 - Low Voltage Power (20A)
2. Remove the cover located under the dashboard in the driver's side foot well.

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3. Peel back the carpet to expose Model X's 4-pin connector on the wiring harness.

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4. Connect the pigtail connector to the vehicle wiring connector.
WARNING: Towing increases your stopping distance, even when the trailer is equipped with its own braking system.
When towing, increase your following distance and avoid situations that could potentially cause heavy braking. Failure to
do so can result in a collision.
WARNING: Observe all regulations and legal requirements in your regional and national jurisdictions that apply
specifically to trailer towing and brake requirements. Many regions require a breakaway switch, located on the tongue of
the trailer, to activate the trailer brakes in the event that the trailer separates from the vehicle. Failure to comply with
regulations can compromise your safety.
WARNING: Follow the instructions provided by the trailer brake manufacturer to ensure that trailer brakes are properly
installed, adjusted, and maintained. Tesla is not responsible for damages caused by incorrect installation of trailer
braking systems.

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WARNING: Never attempt to connect trailer brakes directly to the vehicle braking system. Doing so can cause damage
to the vehicle and the trailer, and can cause the braking system to malfunction, resulting in serious injury or death.
Towing Guidelines
Model X is designed primarily as a passenger-carrying vehicle. Towing a trailer puts additional load on the motor(s), drive
train, brakes, tires, and suspension and significantly decreases range. If you decide to tow a trailer, proceed with caution and
follow these general guidelines:
• Reduce your driving speed and avoid sudden maneuvers. Keep in mind that when towing a trailer, steering, stability, turning
radius, stopping distance and braking performance are different when compared to driving without a trailer.
• Increase your following distance by maintaining at least twice the distance from a vehicle ahead. This helps to avoid
situations that require heavy braking. Sudden braking may result in skidding or jack-knifing, and loss of control.
• Avoid sharp turns. Sharp turns can cause the trailer to contact the vehicle and cause damage. Keep in mind that the trailer
wheels are closer to the inside of the turn than the vehicle’s wheels. Therefore, make wider turns to prevent the trailer from
hitting curbs, road signs, trees or other objects.
• Periodically check the trailer lights and turn signals to confirm that bulbs are still working. When towing a trailer, the turn
signal arrows on the vehicle instrument cluster flash as normal, even if the bulbs on the trailer are burned out.
• Periodically confirm the cargo is secure.
• Periodically confirm the trailer brakes are working.
• Avoid parking on a grade (see Parking with a Trailer on page 276).
• Regularly confirm that all towing components are securely tightened.
Parking with a Trailer
Whenever possible, avoid parking on a grade. However, if parking on a grade is absolutely necessary, place wheel chocks
under the trailer wheels:
• One person presses and holds the brake pedal.
• A second person places the wheel chocks under the wheels on the downgrade side of the vehicle's tires.
• When the chocks are in place, release the brake pedal and ensure the chocks hold the weight of the vehicle and trailer.
NOTE: When testing chocks, ensure that Vehicle Hold (see Vehicle Hold on page 252) is not engaged. If Vehicle Hold is
braking Model X, the Vehicle Hold indicator light displays on the instrument panel. To disengage Vehicle Hold, press and
release the brake pedal.
• Place the vehicle in Park.
WARNING: If parking on a grade is necessary, always ensure that all trailer wheels have been securely chocked. Failure
to do so can result in serious damage, injury, or death.
Trailer Sway Mitigation
When trailer sway is detected, the Model X electronic stability control system attempts to apply the appropriate amount of
braking to minimize trailer sway. The instrument panel briefly displays the traction control system indicator. Pressing the brake
pedal when the system is actively braking to mitigate trailer sway does not cancel this automatic braking.
Connecting the Tow Hitch
The Model X towing package includes a weight-carrying hitch with a 2” x 2” removable hitch receiver. When not in use, the
hitch receiver should be removed and stored in a dry location to prevent rust and corrosion. Keep the dust cover over the hitch
housing to prevent dirt and debris from entering.

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CAUTION: Always remove the ball mount before installing or removing the hitch receiver from the vehicle (see Attaching
and Removing the Ball Mount on page 280).
WARNING: You must use the Model X trailer hitch when towing a trailer. Never attempt to attach a different type of
trailer hitch.
NOTE: Always attach safety chains when towing. Cross the chains under the trailer tongue and attach to the trailer eyelets to
ensure the security of the trailer load.
NOTE: The maximum permissible rear overhang for the coupling point is 47 inches (1186 mm).
NOTE: The trailer hitch assembly is attached to the body of the vehicle with 8 nuts.

To install the trailer hitch receiver:
1. Remove the dust cover from the hitch housing.

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NOTE: Model X may have two push clips that secure the dust cover to the vehicle. To open, use a sharp object, such as a
flat screwdriver, to carefully pry the clips open. Remove the dust cover.

2. Insert the key into the locking cylinder on the hitch, and turn the cylinder so the top of the key is aligned with the
“unlocked” position.

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3. Pull the locking cylinder out of the adapter approximately 1/8" (0.5 cm), and turn clockwise until the red marking on the
cylinder aligns with the white dot.

WARNING: Be careful when turning the locking cylinder. If it does not lock into the “Open Position”, it automatically
retracts into its original “Closed Position” and can pinch your fingers.
4. Firmly grasp the hitch from the bottom and align the triangular-shaped guides at the sides of the hitch with the
corresponding cutouts in the hitch housing.
NOTE: Do not grasp the locking cylinder because it needs to rotate freely.
5. Push the hitch into the hitch housing until the locking cylinder rotates approximately 120° counter-clockwise and
automatically locks into the "Closed Position". The green area on the locking cylinder (above the white arrow) aligns with
the white dot on the housing.
6. Visually check to confirm that the hitch is fully inserted into the housing. Try pulling down on the hitch. The hitch should
not drop when you pull down.
NOTE: If the hitch does not lock into the housing, it falls out when you pull down on it.
7. Turn the key so the arrows align with the “locked” marking on the locking cylinder.
8. Remove the key and store it in a safe place (preferably inside the vehicle).
NOTE: The key can be removed only if the hitch is locked. This indicates a proper connection. Do not use the hitch if the
key is not removed.

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NOTE: Tesla recommends making a note of the key code. You need this code if you lose the keys and need to order a
replacement.

9. Close the dust cover to prevent dirt and debris from entering the lock. For newer version with push clips, reattach the dust
cover, snap it in place and open the push clips before pushing them in.
NOTE: To maintain the hitch, regularly grease its surfaces with non-resinous grease.
Disconnecting the Tow Hitch
After towing, remove the hitch:
1. Insert the key and turn to align the top of the key with the “unlocked” position.
2. While firmly holding the bottom of the hitch (to prevent it from dropping to the ground), pull the locking cylinder out
approximately 1/8" (0.5 cm), and turn it clockwise until the red marking on the locking cylinder aligns with the white dot. At
this point, the locking cylinder is locked in the "open" and the hitch drops out of the housing.
WARNING: Be careful when turning the locking cylinder. If it does not lock into the “Open Position”, it automatically
retracts into its original “closed" position and can pinch your fingers.
3. Reinstall the dust cover on the hitch housing to prevent dirt from accumulating inside the housing.
4. Close the dust cover on the hitch's locking cylinder and store the hitch in a secure location.
Attaching and Removing the Ball Mount
The Model X towing package does not include a ball mount. You must purchase a ball mount suitable for the type of trailer you
are towing. The Model X hitch receiver supports a ball mount up to 8” with a rise of up to 0.75”. Do not use any type of drop
ball mount.

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To attach a ball mount:
1. If necessary, remove the cotter pin from the locking bolt and slide the locking bolt out of the hitch assembly.
2. Slide the ball holder into the hitch assembly.
3. Align the hole in the ball holder with the one in the hitch assembly.
4. Slide the locking bolt through the hitch assembly/ball holder.
5. Insert the cotter pin in the hole at the end of the locking bolt.
To remove a ball mount:
1. Remove the cotter pin from the locking bolt and slide the locking bolt out of the ball holder/hitch assembly.
2. Pull the ball holder out of the hitch assembly.
Electrical Connections
Regulations require all trailers to be equipped with tail lights, brake lights, side marker lights, and turn signals. To provide
power for trailer lighting, a built-in seven-way wiring connector (SAE J560) is attached near the tow hitch. Most trailer wiring
plugs can be attached to this connector.

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1. Reverse Lights (Purple)
2. Low Voltage Power (Red or Black)
3. Right Turn Signal and Brake Light (Green)
4. Brake Controller Output (Blue)
5. Tail Lights and Running Lights (Brown)
6. Left Turn Signal and Brake Light (Yellow)
7. Ground (White)
NOTE: It is the driver's responsibility to ensure that all electrical connections are working, and all trailer lights are operating
before and during towing. Model X does not detect faulty trailer lights. You must perform manual checks.
NOTE: Loss of trailer lights when towing may be the result of a fault in the trailer wiring or excessive power consumption by the
lights connected to the trailer output(s). When this occurs, a red Trailer Mode icon appears on the touchscreen. Fix any issues
with the wiring and/or reduce the number of lights connected to the trailer output(s), then toggle Trailer Mode off and on
again.
Plugging trailer wiring into the Model X electrical connector automatically engages Trailer Mode (see Trailer Mode on page
272).
WARNING: The brake controller output operates only when a brake controller is installed (see Trailer Brakes on page
272).
WARNING: Use only the electrical connection designed by Tesla. Do not attempt to directly splice or attempt to connect
trailer electrical wiring using any other method. Doing so can damage the vehicle electrical system and cause
malfunctions.
CAUTION: Always ensure that the trailer electrical cable does not contact or drag on the ground and there is enough
slack in the cable to allow for turns.

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Impact on Range
Towing a trailer and carrying accessories increases vehicle weight and drag. As a result, driving range can decrease
significantly. Although Trip Planner attempts to adjust estimates based on Trailer Mode, actual energy consumption may vary.
Plan trip length and charging destinations accordingly.

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Cold Weather Best Practices
To ensure that Model SModel X provides you with the best ownership experience possible in harsh cold weather conditions,
follow these best practices.
Before Driving
When snow and ice accumulate on your vehicle, moving parts, such as the door handles, windows, mirrors, and wipers can
freeze in place. To achieve maximum range and performance, it is helpful to warm the cabin and Battery before you leave.
There are several ways to do so:
• Touch Schedule, available on both the charging and climate control screens, to set a time when you want your vehicle to be
ready to drive (see Scheduled Charging and Scheduled Departure on page 425).
• On the mobile app, navigate to Climate to customize the temperature at which you want to heat the cabin. This also warms
the high voltage Battery as needed.
• On the mobile app, navigate to Climate > Defrost Car > Defrost to melt snow, ice, and frost on the windshield, windows, and
mirrors. This also warms the high voltage Battery as needed.
NOTE: Tesla recommends activating climate settings at least 30-45 minutes before departure (see Climate Controls on
page 360). Preconditioning times depend on outside temperature and other factors. The Mobile App will notify you once
your vehicle has reached the desired preconditioning temperature.
• In extremely cold weather or icy conditions, it is possible that your charge port latch may freeze in place. In cases where
you cannot remove or insert the charge cable, or the vehicle is not Supercharging due to the latch being frozen in place,
use your Tesla mobile app to precondition on HI for approximately 30-45 minutes (you must use your mobile app to
precondition; setting your climate to HI using the touchscreen is not effective). This can help thaw ice on the charge port
latch so the charge cable can be removed or inserted.
• In extremely cold weather or icy conditions, it is possible that your charge port latch may freeze in place. In cases where
you cannot remove or insert the charge cable, or the vehicle is not Supercharging due to the latch being frozen in place,
use the Defrost Car setting in the mobile app. This can help thaw ice on the charge port latch so the charge cable can be
removed or inserted.
• Warming the Battery using Scheduled Departure or the mobile app before driving can also reduce charging time at a
Supercharger or third party fast charger, especially if the Supercharger or third party fast charger is close enough that Trip
Planner does not have sufficient time to precondition the Battery (see Warming the Battery Before Supercharging on page
285).
Windows

• On the mobile app, navigate to Climate > Defrost as mentioned previously.
• Use the mobile app to schedule a service appointment for Tesla to provide hydrophobic coating to your windows for a
nominal fee.
Mirrors

If ice buildup is expected when parking, turn off Auto-Fold Mirrors. Touch Controls > Vehicle > Auto-Fold. Ice can prevent
exterior side mirrors from folding or unfolding.
NOTE: Side mirrors automatically heat as needed during preconditioning, or when the rear defroster is turned on.
Wipers

If you expect snow or ice to build up when parked, touch Controls > Service > Wiper Service Mode. This raises wipers against
the windshield so they can defrost when the windshield defrosts (see Wipers and Washers on page 228).
Tires and Tire Chains

• Use winter tires to increase traction in snowy or icy conditions. You can purchase winter tires on http://www.tesla.com (see
Seasonal Tire Types on page 438).
• Tire chains provide additional traction when driving in snowy or icy conditions. Check local regulations to determine if tire
chains are recommended or required during winter months. See Using Tire Chains on page 439 for more information.
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Your vehicle’s tire pressures will drop in cold ambient temperatures. If the TPMS indicator light appears, inflate the tires before
driving. The tires will lose one PSI for every 10° F (6° C) drop in outside temperature (see Tire Care and Maintenance on page
431). Proper tire pressures help protect tires from potholes and improve range when properly inflated.
While Driving
Cold weather can increase energy consumption because more power is required for driving, cabin and Battery heating. Follow
these suggestions to reduce energy consumption:
• Use seat heaters to keep warm. Seat heaters use less energy than the cabin heater. Lowering the cabin temperature and
using seat heaters reduces energy consumption (see Climate Controls on page 360).
• Slow down your driving and avoid frequent and rapid acceleration.
• Turn on Range Mode to automatically limit the power that the climate control system uses to maintain the temperature of
the Battery and the cabin area. Range Mode also turns off signature lights (if equipped) and adjusts the front and rear
motor torque split to maximize range (see Getting Maximum Range on page 261).
Regenerative Braking

Regenerative braking can be limited if the Battery is too cold. As you continue to drive, the Battery warms up and regenerative
power increases (see Regenerative Braking on page 233).
NOTE: Limited regenerative braking can be avoided if you allow enough time to precondition your vehicle or if you use
Schedule to precondition Model SModel X before your departure time (see Scheduled Charging and Scheduled Departure on
page 425).
Blue Snowflake Icon

A blue snowflake icon appears on your instrument panel when some of the stored energy in the Battery is unavailable
because the Battery is cold. This portion of unavailable energy displays in blue on the Battery meter. Regenerative
braking, acceleration, and charging rates may be limited. The snowflake icon no longer displays when the Battery is
sufficiently warm.
Warming the Battery Before Supercharging

By using Trip Planner (see Trip Planner on page 373) to navigate to a Supercharger, Model SModel X pre-heats the Battery to
ensure when you arrive at the Supercharger, the Battery temperature is optimal and ready to charge. This reduces the amount
of time it takes to charge.
NOTE: Tesla recommends using Trip Planner to navigate to a Supercharger for at least 30-45 minutes before arrival to ensure
optimal Battery temperature and charging conditions. If the drive to the Supercharger is less than 30-45 minutes, consider
preconditioning the Battery prior to driving (see Before Driving on page 284).
Autopilot

To ensure optimal Autopilot performance, keep the sensors and radar free of snow, ice, mud, and dirt (see About Autopilot on
page 286).
After Driving
Leave Model SModel X plugged in when not in use. This uses the charging system, rather than the Battery itself, to keep the
Battery warm (see High Voltage Battery Information on page 415).
Scheduled Departure

When parked, plug in Model SModel X and use the Schedule settings, available on both the charging and climate control
screens, to set a time when you want to precondition Model SModel X (see Scheduled Charging and Scheduled Departure on
page 425). Your vehicle determines the appropriate time to begin charging so it is complete during off-peak hours and the
cabin and Battery are warm by your set departure time. For more information, see Scheduled Charging and Scheduled
Departure on page 425.

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Charge Port

• If your charge port latch freezes in place and a charging cable becomes stuck in the charge port, try manually releasing the
charge cable. See Manually Releasing Charge Cable on page 426Manually Releasing Charge Cable on page 427Manually
Releasing Charge Cable on page 426.
• Use the mobile app to precondition your vehicle to help thaw ice on the charge port latch so that the charge cable can be
removed or inserted (see Mobile App on page 406).
NOTE: You can also prevent the occurrence of a charge port latch freezing in place by using the Schedule settings (see
Scheduled Charging and Scheduled Departure on page 425).
NOTE: If your charge port latch is frozen in place, it may not lock the charging cable in place when inserted, but it can still
charge at a slow AC rate even if the latch is not engaged.
Storage
If you leave Model SModel X parked for an extended period of time, plug the vehicle into a charger to prevent normal range
loss and to keep the Battery at an optimal temperature. Your vehicle is safe to stay plugged in for any length of time.
When not in use, Model SModel X enters a sleep mode to conserve energy. Reduce the number of times you check your
vehicle’s status on the mobile app, as this automatically wakes up your vehicle and starts normal energy consumption.

Autopilot
About Autopilot
How It Works
Your Model SModel X includes the following components that actively monitor the surrounding area:

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1. Ultrasonic sensors are located in the front and rear bumpers.
2. A forward looking camera is mounted on the windshield above the rear view mirror.
3. Radar is mounted in the front grill. Radar is mounted behind the front bumper on the left side of the vehicle. Radar is
mounted behind the front bumper on the right side of the vehicle.
1. A camera is mounted above the rear license plate.
2. Ultrasonic sensors are located in the front and rear bumpers.
3. A camera is mounted in each door pillar.
4. Three cameras are mounted to the windshield above the rear view mirror.
5. A camera is mounted to each front fender.
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6. Radar (if equipped) is mounted behind the front bumper.
Model SModel X is also equipped with high precision electronically-assisted braking and steering systems.
NOTE: Ensure all cameras and sensors are clean before each drive. See Cleaning Cameras and Sensors on page 292 for more
information. Dirty cameras and sensors, as well as environmental conditions such as rain and faded lane markings, can affect
Autopilot performance.

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Active Safety Features
These Active Safety features, available on all vehicles that are equipped with the components shown above, are designed to
increase your safety:
• Lane Assist (see Lane Assist on page 336)
• Collision Avoidance Assist (see Collision Avoidance Assist on page 340)
• Speed Assist (see Speed Assist on page 344)
You can enable/disable some of these features and in some cases, control how they work. To access settings for these
features, touch Controls > Autopilot.
Autopilot Features
NOTE: Depending on market region, vehicle configuration, options purchased, and software version, your vehicle may not be
equipped with all features listed below, or a feature may not operate exactly as described.
These Autopilot convenience features are designed to reduce driver workload:
• Traffic-Aware Cruise Control (see Traffic-Aware Cruise Control on page 299)
• Autosteer (see Autosteer on page 310)
• Auto Lane Change (see Auto Lane Change on page 313)
• Autopark (see Autopark on page 327)
• Summon (see Summon on page 330)
• Smart Summon (Smart Summon on page 333)
• Stop Light and Stop Sign Warning (see Stop Light and Stop Sign Warning on page 315)
• Navigate on Autopilot (see Navigate on Autopilot on page 316)
• Traffic Light and Stop Sign Control (see Traffic Light and Stop Sign Control on page 320)
You can enable/disable some of these features and in some cases, control how they work. To access settings associated with
these features, touch Controls > Autopilot.
Drive to Calibrate Cameras
Model SModel X must maneuver with precision when Autopilot features are being used. Therefore, before some features can
be used for the first time or after some types of service repairs, cameras must complete a self-calibration process. For your
convenience, the instrument panel displays a progress indicator.
When calibration is complete, Autopilot features are available for use. Calibration typically completes after driving 20-25 miles
(32-40 km), but the distance varies depending on road and environmental conditions. For example, calibration completes
quicker when driving on a straight road with multiple lanes (such as a controlled-access highway), with highly-visible lane
markings (in the driving lane as well as the adjacent lanes). Contact Tesla only if your Model SModel X has not completed the
calibration process after driving 100 miles (160 km) in the described conditions.
If a camera has shifted from its calibrated position (for example, the camera or windshield was replaced), you must clear the
calibration. To do so, touch Controls > Service > Camera Calibration > Clear Calibration. When the calibration is cleared,
Model SModel X repeats the calibration process. While this helps re-calibrate the cameras in many cases, Clear Calibration
may not resolve all camera and sensor concerns.
NOTE: The self-calibration drive process is only applicable to Model SModel X vehicles built after approximately October 12,
2016.
NOTE: To calibrate, cameras require highly-visible lane markings in both the driving lane and adjacent lanes (at least two lanes
over on each side of the vehicle). For best results, drive in the middle lane of a multi-lane highway (ideally with at least five
lanes) that has clear lane markings and minimal traffic.
NOTE: If you attempt to use a feature that is not available until the calibration process is complete, the feature is disabled and
the instrument panel displays a message.

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NOTE: Model SModel X must repeat the calibration process if the cameras are serviced by Tesla, and in some cases, after a
software update.
Limitations
Many factors can impact the performance of Autopilot components, causing them to be unable to function as intended. These
include (but are not limited to):
• Poor visibility (due to heavy rain, snow, fog, etc.).
• Bright light (due to oncoming headlights, direct sunlight, etc.).
• Damage or obstructions caused by mud, ice, snow, etc.
• Interference or obstruction by object(s) mounted onto the vehicle (such as a bike rack).
• Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto
the vehicle.
• Narrow or winding roads.
• A damaged or misaligned body panel.
• Use of gray or aftermarket glass.
• Interference from other equipment that generates ultrasonic waves.
• Extremely hot or cold temperatures.
CAUTION: If a windshield replacement is needed, take your vehicle to Tesla Service. This ensures appropriate handling
and mounting of the camera(s). Failure to do so can cause one or more Autopilot features to malfunction.
WARNING: The list above does not represent an exhaustive list of situations that may interfere with proper operation of
Autopilot components. Never depend on these components to keep you safe. It is the driver's responsibility to stay
alert, drive safely, and be in control of the vehicle at all times.
WARNING: Advanced safety features may not be available during the calibration period.
WARNING: Re-calibrating the cameras or sensors on the touchscreen is not a substitute for checking the physical
positioning and condition of these components. Walk around your vehicle and inspect the cameras and sensors for
physical damage. Incorrectly calibrated or positioned cameras and sensors may limit or disable the use of safety
features. Contact Tesla if you suspect lingering issues.
Cleaning Cameras and Sensors
To ensure the various Autopilot components can provide information that is as accurate as possible, keep them clean and free
of obstructions, condensation, or damage (see Cleaning on page 446).
Condensation can form inside the camera enclosures, especially if you park your vehicle outside in cold or wet conditions. The
instrument cluster may display an alert stating that a camera is blocked and that some or all Autopilot features may be
temporarily restricted until the camera vision is clear. To proactively dry the condensation, precondition the cabin by setting it