diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 235bafc41b..d750488269 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -30,7 +30,7 @@ def plannerd_thread(sm=None, pm=None):
                              poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 
   if pm is None:
-    pm = messaging.PubMaster(['longitudinalPlan', 'liveLongitudinalMpc', 'lateralPlan', 'liveMpc'])
+    pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan'])
 
   while True:
     sm.update()