The Subaru Coronagraphic Extreme Adaptive Optics (SCExAO) instrument relies on a technique known as the asymmetric pupil Fourier wavefront sensor (APF-WFS) to compensate for the non-common path error that affects the performance of high contrast imaging instruments. The APF-WFS is a powerful tool that senses the wavefront at the level of the science detector, and leads to unbiased wavefront estimates. This paper presents the latest status, linearity properties and reports on the on-sky performance of this sensor, as it is implemented on SCExAO, used to control low-order Zernike modes in a close-loop system.