diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index b22733632c..1d5362110d 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -83,7 +83,6 @@ class SelfdriveD:
       self.CP = CP
 
     self.car_events = CarSpecificEvents(self.CP)
-    self.calibrator = PoseCalibrator()
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
@@ -132,7 +131,6 @@ class SelfdriveD:
     self.active = False
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
-    self.lateral_iso_violation = False
     self.last_steering_pressed_frame = 0
     self.distance_traveled = 0
     self.last_functional_fan_frame = 0