Remove carParams.mass - #3665
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Car behavior reportReplays driving segments through this PR and compares the behavior to master. ✅ No changes detected |
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mass cancels out of the bicycle model since tire stiffness and rotational inertia both scale with it. store stiffness/inertia per unit mass (divided by the reference Civic mass) so mass disappears from the vehicle model entirely instead of substituting a fake mass constant. carParams.mass is still set, just no longer consumed.
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CarParams.massonly feeds the lateral bicycle-model stack:VehicleModelinputs, equationsC ∝ mand inertia asI ∝ m; the equations useC/mandC/I.paramsd,CarKalmanC/mandC/Ibicycle-model terms.m/C_rear, whileC_rear ∝ m.This renames the field to
unitMassand fixes it at1 kg. Tire stiffness remains inN/rad, rotational inertia remains inkg*m², and the standard equations and behavior are unchanged.Other options:
Consumer updates: openpilot #38594, xx #6940