diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 93d1c7e77b..c76966867a 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -45,7 +45,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
 def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
-                   nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool) -> None:
+                   nav_enabled: bool, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   msg.valid = valid
 
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 9305c4302d..09fab93a33 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -219,13 +219,10 @@ def main(demo=False):
       buf_extra = buf_main
       meta_extra = meta_main
 
-    # TODO: path planner timeout?
     sm.update(0)
     desire = DH.desire
-    v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    # TODO add lag
     lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"]:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@@ -293,7 +290,7 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
-                      meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen)
+                      meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]