diff --git a/y2012/control_loops/drivetrain/drivetrain_base.cc b/y2012/control_loops/drivetrain/drivetrain_base.cc
index 4e5a87f..40f4d24 100644
--- a/y2012/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2012/control_loops/drivetrain/drivetrain_base.cc
@@ -41,6 +41,8 @@
 
       drivetrain::kHighGearRatio,
       drivetrain::kLowGearRatio,
+      drivetrain::kJ,
+      drivetrain::kMass,
       kThreeStateDriveShifter,
       kThreeStateDriveShifter,
       true /* default_high_gear */,