A method of controlling a three-wheeled vehicle comprises: determining a state of a load sensor associated with a portion of vehicle; selecting a first start mass when the load sensor is in a non-loaded state; selecting a second start mass when the load sensor is in a loaded state; determining at least one vehicle parameter during operation of the vehicle; determining a calculated mass based at least in part on the at least one vehicle parameter; determining an effective mass based at least in part on the calculated mass and a selected one of the first and second start masses; defining an output of an electronic stability system of the vehicle based at least in part on the effective mass; and controlling a stability of the vehicle using the output of the electronic stability system.