diff --git a/common/conversions.py b/common/constants.py
similarity index 83%
rename from common/conversions.py
rename to common/constants.py
index b02b33c625..7ca425c4b2 100644
--- a/common/conversions.py
+++ b/common/constants.py
@@ -1,6 +1,7 @@
 import numpy as np
 
-class Conversions:
+# conversions
+class CV:
   # Speed
   MPH_TO_KPH = 1.609344
   KPH_TO_MPH = 1. / MPH_TO_KPH
@@ -17,3 +18,6 @@ class Conversions:
 
   # Mass
   LB_TO_KG = 0.453592
+
+
+ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
diff --git a/opendbc_repo b/opendbc_repo
index a517b9973a..c6f01a6039 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit a517b9973ab1e03e0c13770ec3bd5849ede4202d
+Subproject commit c6f01a6039faeb0d54d3d5a284d7cd2422eac2a8
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index b825808acb..0d761844b5 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -2,7 +2,7 @@ import math
 import numpy as np
 
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 
 
 # WARNING: this value was determined based on the model's training distribution,
diff --git a/selfdrive/car/tests/test_cruise_speed.py b/selfdrive/car/tests/test_cruise_speed.py
index 7bda3a24eb..aa70e49f5d 100644
--- a/selfdrive/car/tests/test_cruise_speed.py
+++ b/selfdrive/car/tests/test_cruise_speed.py
@@ -6,7 +6,7 @@ from parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 ButtonEvent = car.CarState.ButtonEvent
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 58ce6ac3fa..dd7968b732 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -4,7 +4,7 @@ from numbers import Number
 
 from cereal import car, log
 import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 90b6858649..730aaeb8f1 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -1,5 +1,5 @@
 from cereal import log
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 
 LaneChangeState = log.LaneChangeState
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 51eb694b4c..e28fa3021c 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,5 +1,5 @@
 import numpy as np
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.realtime import DT_CTRL, DT_MDL
 
 MIN_SPEED = 1.0
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index b04f489749..991ac3439b 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -4,7 +4,7 @@ import numpy as np
 from cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
 from opendbc.car.interfaces import LatControlInputs
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 
diff --git a/selfdrive/controls/lib/ldw.py b/selfdrive/controls/lib/ldw.py
index caf03fec73..78a6d6cf6e 100644
--- a/selfdrive/controls/lib/ldw.py
+++ b/selfdrive/controls/lib/ldw.py
@@ -1,6 +1,6 @@
 from cereal import log
 from openpilot.common.realtime import DT_CTRL
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 
 
 CAMERA_OFFSET = 0.04
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 0fbcfa25ba..2149e60078 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -4,7 +4,7 @@ import numpy as np
 
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 59f30dbf77..03c044982e 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -14,7 +14,7 @@ from typing import NoReturn
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index 6db749b949..27cc4ef9c9 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -5,7 +5,7 @@ from typing import Any
 
 import numpy as np
 
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 from openpilot.common.swaglog import cloudlog
 
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 23bd99931b..3aafbd591d 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -4,7 +4,7 @@ from collections import deque, defaultdict
 
 import cereal.messaging as messaging
 from cereal import car, log
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index fe4c1a6820..49c2cea4ac 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -7,7 +7,7 @@ from collections.abc import Callable
 
 from cereal import log, car
 import cereal.messaging as messaging
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 05aa27f318..b69dec4ebb 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -31,7 +31,7 @@ from openpilot.tools.lib.logreader import LogIterable
 from openpilot.tools.lib.framereader import FrameReader
 
 # Numpy gives different results based on CPU features after version 19
-NUMPY_TOLERANCE = 1e-7
+NUMPY_TOLERANCE = 1e-2
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 7c49100fef..eb178b0562 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7ecabd09f1f07c784806639114881fb6341be06c
\ No newline at end of file
+8ff1b4c9c7a34589142a07579b0051acddfe7699
\ No newline at end of file
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
index a74d309e02..4ae713d9db 100644
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -1,6 +1,6 @@
 import pyray as rl
 from dataclasses import dataclass
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app, FontWeight
diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py
index 6c6e252a57..170d44ef78 100755
--- a/tools/longitudinal_maneuvers/maneuversd.py
+++ b/tools/longitudinal_maneuvers/maneuversd.py
@@ -3,7 +3,7 @@ import numpy as np
 from dataclasses import dataclass
 
 from cereal import messaging, car
-from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog