diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index fdb89da84..c9e4f3e16 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -25,27 +25,6 @@ struct ModularAssistiveDrivingSystem {
   }
 }
 
-# Same struct as Log.RadarState.LeadData
-struct LeadData {
-  dRel @0 :Float32;
-  yRel @1 :Float32;
-  vRel @2 :Float32;
-  aRel @3 :Float32;
-  vLead @4 :Float32;
-  dPath @6 :Float32;
-  vLat @7 :Float32;
-  vLeadK @8 :Float32;
-  aLeadK @9 :Float32;
-  fcw @10 :Bool;
-  status @11 :Bool;
-  aLeadTau @12 :Float32;
-  modelProb @13 :Float32;
-  radar @14 :Bool;
-  radarTrackId @15 :Int32 = -1;
-
-  aLeadDEPRECATED @5 :Float32;
-}
-
 struct SelfdriveStateSP @0x81c2f05a394cf4af {
   mads @0 :ModularAssistiveDrivingSystem;
 }
@@ -195,8 +174,6 @@ struct CarParamsSP @0x80ae746ee2596b11 {
 struct CarControlSP @0xa5cd762cd951a455 {
   mads @0 :ModularAssistiveDrivingSystem;
   params @1 :List(Param);
-  leadOne @2 :LeadData;
-  leadTwo @3 :LeadData;
 
   struct Param {
     key @0 :Text;
diff --git a/opendbc_repo b/opendbc_repo
index 25a5079a6..b68fab9ea 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 25a5079a6ed31a3de2b4c2444720dbee9d162c52
+Subproject commit b68fab9ea4052213f8bfc1b80832ac8d4e798c8b
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 275c84479..6187be147 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -58,7 +58,5 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
   struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
-  struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
-  struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
 
   return struct_dataclass
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
index fc89091ad..9a7f0cb5f 100644
--- a/sunnypilot/selfdrive/controls/controlsd_ext.py
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -26,7 +26,7 @@ class ControlsExt:
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd_ext got CarParamsSP")
 
-    self.sm_services_ext = ['radarState', 'selfdriveStateSP']
+    self.sm_services_ext = ['selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
   def get_params_sp(self) -> None:
@@ -47,10 +47,6 @@ class ControlsExt:
   def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     CC_SP = custom.CarControlSP.new_message()
 
-    if sm.updated['radarState']:
-      CC_SP.leadOne = sm['radarState'].leadOne
-      CC_SP.leadTwo = sm['radarState'].leadTwo
-
     # MADS state
     CC_SP.mads = sm['selfdriveStateSP'].mads