diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index cab72adcda..86e93ba845 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -60,7 +60,7 @@ class PathPlanner():
 
     self.path_xyz = np.zeros((TRAJECTORY_SIZE,3))
     self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
-    self.t_idxs = np.zeros((TRAJECTORY_SIZE,))
+    self.t_idxs = np.arange(TRAJECTORY_SIZE)
 
   def setup_mpc(self):
     self.libmpc = libmpc_py.libmpc
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 6cb8e3c814..504256b252 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -115,7 +115,6 @@ class Plant():
       Plant.logcan = messaging.pub_sock('can')
       Plant.sendcan = messaging.sub_sock('sendcan')
       Plant.model = messaging.pub_sock('model')
-      Plant.front_frame = messaging.pub_sock('frontFrame')
       Plant.live_params = messaging.pub_sock('liveParameters')
       Plant.live_location_kalman = messaging.pub_sock('liveLocationKalman')
       Plant.health = messaging.pub_sock('health')