diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 5cb97f776..acfb3a392 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -203,17 +203,17 @@ class LateralPlanner:
     if self.desire == log.LateralPlan.Desire.laneChangeRight or self.desire == log.LateralPlan.Desire.laneChangeLeft:
       self.LP.lll_prob *= self.lane_change_ll_prob
       self.LP.rll_prob *= self.lane_change_ll_prob
-    if self.get_dlp_laneless_mode():
+    if not self.get_dlp_laneless_mode():
       d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
       self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
-      self.laneless_mode_is_e2e = True
+      self.laneless_mode_is_e2e = False
     else:
       d_path_xyz = self.path_xyz
       path_cost = np.clip(abs(self.path_xyz[0, 1] / self.path_xyz_stds[0, 1]), 0.5, 1.5) * MPC_COST_LAT.PATH
       # Heading cost is useful at low speed, otherwise end of plan can be off-heading
       heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
       self.lat_mpc.set_weights(path_cost, heading_cost, self.steer_rate_cost)
-      self.laneless_mode_is_e2e = False
+      self.laneless_mode_is_e2e = True
     y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
     heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
     self.y_pts = y_pts