diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 43ba9bce41..de43c04180 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -53,7 +53,6 @@ class PathPlanner():
 
     self.setup_mpc()
     self.solution_invalid_cnt = 0
-    self.path_offset_i = 0.0
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
@@ -150,15 +149,6 @@ class PathPlanner():
 
     self.LP.update_d_poly(v_ego)
 
-
-    # TODO: Check for active, override, and saturation
-    # if active:
-    #   self.path_offset_i += self.LP.d_poly[3] / (60.0 * 20.0)
-    #   self.path_offset_i = clip(self.path_offset_i, -0.5,  0.5)
-    #   self.LP.d_poly[3] += self.path_offset_i
-    # else:
-    #   self.path_offset_i = 0.0
-
     # account for actuation delay
     self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, CP.steerActuatorDelay)