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Remove carParams.mass - #38594

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rm-mass
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Remove carParams.mass#38594
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rm-mass

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@adeebshihadeh adeebshihadeh commented Aug 8, 2026

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@adeebshihadeh
adeebshihadeh force-pushed the rm-mass branch 3 times, most recently from b6f8eb2 to 09fc47b Compare August 9, 2026 00:09
@adeebshihadeh adeebshihadeh mentioned this pull request Aug 9, 2026
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pi @adeebshihadeh
remove carParams.mass from the bicycle model
cd14dae 
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.
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github-actions Bot commented Aug 9, 2026

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Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

⚠️ 16 changed, 50 passed, 0 errors

Show changes 

HYUNDAI - regenAA0FC4ED71E|2025-04-08--22-57-50--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 3119.768798828125 -> 1.8919155597686768
    frame 1: 3119.768798828125 -> 1.8919155597686768

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 140872.765625 -> 85.42920684814453
    frame 1: 140872.765625 -> 85.42920684814453

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 148460.75 -> 90.03076934814453
    frame 1: 148460.75 -> 90.03076934814453

  carParams.unitMass (2 diffs)
    frame 0: 1649.0 -> 1.0
    frame 1: 1649.0 -> 1.0

HYUNDAI2 - regenAFB9780D823|2025-04-08--23-00-34--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 4322.1865234375 -> 1.9727003574371338
    frame 1: 4322.1865234375 -> 1.9727003574371338

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 187175.375 -> 85.42919921875
    frame 1: 187175.375 -> 85.42919921875

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 197257.4375 -> 90.03077697753906
    frame 1: 197257.4375 -> 90.03077697753906

  carParams.unitMass (2 diffs)
    frame 0: 2191.0 -> 1.0
    frame 1: 2191.0 -> 1.0

TOYOTA - regen218A4DCFAA1|2025-04-08--22-57-51--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 2594.3701171875 -> 1.7099863290786743
    frame 1: 2594.3701171875 -> 1.7099863290786743

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 118570.5078125 -> 78.1515121459961
    frame 1: 118570.5078125 -> 78.1515121459961

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 147270.984375 -> 97.06841278076172
    frame 1: 147270.984375 -> 97.06841278076172

  carParams.unitMass (2 diffs)
    frame 0: 1517.1876220703125 -> 1.0
    frame 1: 1517.1876220703125 -> 1.0

TOYOTA3 - regen1455E3B4BDF|2025-04-09--03-26-06--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 2548.41552734375 -> 1.6721978187561035
    frame 1: 2548.41552734375 -> 1.6721978187561035

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 83003.296875 -> 54.46440505981445
    frame 1: 83003.296875 -> 54.46440505981445

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 103094.59375 -> 67.64774322509766
    frame 1: 103094.59375 -> 67.64774322509766

  carParams.unitMass (2 diffs)
    frame 0: 1523.9915771484375 -> 1.0
    frame 1: 1523.9915771484375 -> 1.0

HONDA - regenB328FF8BA0A|2025-04-08--22-57-45--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 2500.0 -> 1.7099863290786743
    frame 1: 2500.0 -> 1.7099863290786743

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 192150.0 -> 131.42955017089844
    frame 1: 192150.0 -> 131.42955017089844

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 202500.0 -> 138.50889587402344
    frame 1: 202500.0 -> 138.50889587402344

  carParams.unitMass (2 diffs)
    frame 0: 1462.0 -> 1.0
    frame 1: 1462.0 -> 1.0

HONDA2 - regen6170C8C9A35|2025-04-08--22-57-46--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 3049.60986328125 -> 1.8786157369613647
    frame 1: 3049.60986328125 -> 1.8786157369613647

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 183657.0 -> 113.13609313964844
    frame 1: 183657.0 -> 113.13609313964844

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 185617.15625 -> 114.34358978271484
    frame 1: 185617.15625 -> 114.34358978271484

  carParams.unitMass (2 diffs)
    frame 0: 1623.328125 -> 1.0
    frame 1: 1623.328125 -> 1.0

CHRYSLER - regen5B28FC2A437|2025-04-08--23-04-24--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 5322.46435546875 -> 2.238210439682007
    frame 1: 5322.46435546875 -> 2.238210439682007

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 291703.5 -> 122.6675796508789
    frame 1: 291703.5 -> 122.6675796508789

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 362311.53125 -> 152.35977172851562
    frame 1: 362311.53125 -> 152.35977172851562

  carParams.unitMass (2 diffs)
    frame 0: 2378.0 -> 1.0
    frame 1: 2378.0 -> 1.0

RAM - regenBF81EA96E08|2025-04-08--23-06-54--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 9283.6591796875 -> 3.5312509536743164
    frame 1: 9283.6591796875 -> 3.5312509536743164

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 322493.0625 -> 122.6675796508789
    frame 1: 322493.0625 -> 122.6675796508789

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 400553.875 -> 152.3597869873047
    frame 1: 400553.875 -> 152.3597869873047

  carParams.unitMass (2 diffs)
    frame 0: 2629.0 -> 1.0
    frame 1: 2629.0 -> 1.0

SUBARU - regen7366F13F6A1|2025-04-08--23-07-07--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 2849.425048828125 -> 1.6721978187561035
    frame 1: 2849.425048828125 -> 1.6721978187561035

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 186629.953125 -> 109.52462005615234
    frame 1: 186629.953125 -> 109.52462005615234

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 295023.9375 -> 173.1361083984375
    frame 1: 295023.9375 -> 173.1361083984375

  carParams.unitMass (2 diffs)
    frame 0: 1704.0 -> 1.0
    frame 1: 1704.0 -> 1.0

GM - regen1271097D038|2025-04-09--03-26-00--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 2945.93212890625 -> 1.6320953369140625
    frame 1: 2945.93212890625 -> 1.6320953369140625

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 237230.34375 -> 131.42955017089844
    frame 1: 237230.34375 -> 131.42955017089844

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 250008.53125 -> 138.50888061523438
    frame 1: 250008.53125 -> 138.50888061523438

  carParams.unitMass (2 diffs)
    frame 0: 1805.0 -> 1.0
    frame 1: 1805.0 -> 1.0

NISSAN - regen15D60604EAB|2025-04-08--23-06-59--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 2996.7041015625 -> 1.7163254022598267
    frame 1: 2996.7041015625 -> 1.7163254022598267

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 214177.59375 -> 122.6675796508789
    frame 1: 214177.59375 -> 122.6675796508789

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 266020.1875 -> 152.3597869873047
    frame 1: 266020.1875 -> 152.3597869873047

  carParams.unitMass (2 diffs)
    frame 0: 1746.0 -> 1.0
    frame 1: 1746.0 -> 1.0

VOLKSWAGEN - regen0F2F06C9539|2025-04-08--23-06-56--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 2468.367431640625 -> 1.6101548671722412
    frame 1: 2468.367431640625 -> 1.6101548671722412

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 184691.375 -> 120.47708892822266
    frame 1: 184691.375 -> 120.47708892822266

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 238875.890625 -> 155.82249450683594
    frame 1: 238875.890625 -> 155.82249450683594

  carParams.unitMass (2 diffs)
    frame 0: 1533.0 -> 1.0
    frame 1: 1533.0 -> 1.0

MAZDA - regenACF84CCF482|2024-08-30--03-21-55--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 4618.35693359375 -> 2.2541794776916504
    frame 1: 4618.35693359375 -> 2.2541794776916504

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 185349.25 -> 90.46733856201172
    frame 1: 185349.25 -> 90.46733856201172

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 203609.734375 -> 99.380126953125
    frame 1: 203609.734375 -> 99.380126953125

  carParams.unitMass (2 diffs)
    frame 0: 2048.79736328125 -> 1.0
    frame 1: 2048.79736328125 -> 1.0

FORD - regen755D8CB1E1F|2025-04-08--23-13-43--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 2944.740478515625 -> 1.6721978187561035
    frame 1: 2944.740478515625 -> 1.6721978187561035

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 216017.609375 -> 122.6675796508789
    frame 1: 216017.609375 -> 122.6675796508789

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 268305.5625 -> 152.3597869873047
    frame 1: 268305.5625 -> 152.3597869873047

  carParams.unitMass (2 diffs)
    frame 0: 1761.0 -> 1.0
    frame 1: 1761.0 -> 1.0

RIVIAN - regen5FCAC896BBE|2025-04-08--23-13-35--0 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 7436.5751953125 -> 2.225187063217163
    frame 1: 7436.5751953125 -> 2.225187063217163

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 366031.28125 -> 109.52462005615234
    frame 1: 366031.28125 -> 109.52462005615234

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 578620.875 -> 173.1361083984375
    frame 1: 578620.875 -> 173.1361083984375

  carParams.unitMass (2 diffs)
    frame 0: 3342.0 -> 1.0
    frame 1: 3342.0 -> 1.0

TESLA - 2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4 [card]

  carParams.rotationalInertia (2 diffs)
    frame 0: 4325.73486328125 -> 1.9591190814971924
    frame 1: 4325.73486328125 -> 1.9591190814971924

  carParams.tireStiffnessFront (2 diffs)
    frame 0: 241830.375 -> 109.52462005615234
    frame 1: 241830.375 -> 109.52462005615234

  carParams.tireStiffnessRear (2 diffs)
    frame 0: 382284.53125 -> 173.1361083984375
    frame 1: 382284.53125 -> 173.1361083984375

  carParams.unitMass (2 diffs)
    frame 0: 2208.0 -> 1.0
    frame 1: 2208.0 -> 1.0

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@adeebshihadeh