diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
index a2547f99b..f413903aa 100755
--- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -63,26 +63,6 @@ class LongitudinalPlanner:
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
 
-  @staticmethod
-  def parse_model(model_msg):
-    if (len(model_msg.position.x) == ModelConstants.IDX_N and
-      len(model_msg.velocity.x) == ModelConstants.IDX_N and
-      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
-      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
-      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
-      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
-      j = np.zeros(len(T_IDXS_MPC))
-    else:
-      x = np.zeros(len(T_IDXS_MPC))
-      v = np.zeros(len(T_IDXS_MPC))
-      a = np.zeros(len(T_IDXS_MPC))
-      j = np.zeros(len(T_IDXS_MPC))
-    if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1:
-      throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
-    else:
-      throttle_prob = 1.0
-    return x, v, a, j, throttle_prob
-
   def update(self, sm):
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -116,7 +96,8 @@ class LongitudinalPlanner:
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
-    _, _, _, _, throttle_prob = self.parse_model(sm['modelV2'])
+    throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
+    throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
     # Don't clip at low speeds since throttle_prob doesn't account for creep
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED