From cd14dae543f11fafb674fff84f54137ffcad7ae5 Mon Sep 17 00:00:00 2001 From: pi Date: Sat, 8 Aug 2026 16:28:28 -0700 Subject: [PATCH] remove carParams.mass from the bicycle model mass cancels out of the bicycle model. opendbc now stores tire stiffness and rotational inertia per unit mass, so drop the mass global from the car Kalman filter and stop reading CP.mass in paramsd. --- opendbc_repo | 2 +- openpilot/selfdrive/locationd/paramsd.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index b0685818f31df1..d8d3d3c3e0d35e 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b0685818f31df1e9d225ebc762087a8ebd563edb +Subproject commit d8d3d3c3e0d35e73eacf534a4f35a0bd299dcb07 diff --git a/openpilot/selfdrive/locationd/paramsd.py b/openpilot/selfdrive/locationd/paramsd.py index 9b5ff7143e64f2..23ae0a110da747 100755 --- a/openpilot/selfdrive/locationd/paramsd.py +++ b/openpilot/selfdrive/locationd/paramsd.py @@ -36,7 +36,7 @@ def __init__(self, CP: car.CarParams, steer_ratio: float, stiffness_factor: floa self.P_initial = P_initial if P_initial is not None else CarKalman.P_initial self.kf.set_globals( - mass=CP.mass, + mass=CP.unitMass, rotational_inertia=CP.rotationalInertia, center_to_front=CP.centerToFront, center_to_rear=CP.wheelbase - CP.centerToFront,