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High Pressure Air to Clear Cameras
I think Tesla should look into using high pressure air to keep cameras clear from debris such as rain and mud etc.
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For offroaders, I don't think Autopilot will be available, so the cameras may not be necessary for a muddy environment. I suppose Tesla could have a $500 camera air cleaning option, but I doubt enough owners would buy it to make it worth the development effort. I'd also concerned the cleaning system could easily get plugged up with dried mud, but maybe with enough pressure that could be solved.
I'm also not sure about the ultrasonic sensors. They may offer supplemental information, but like HD maps, I don't think they are required. They may be more important for FSD when driving slow, such as in parking lots or parking into your garage, where the short-range sonar is useful.
No mention of GPS on the autopilot page, that was just an assumption of mine based on reports of the car avoiding potholes and driving more conservatively in construction zones.