diff --git a/openpilot/sunnypilot/modeld_v2/compile_modeld.py b/openpilot/sunnypilot/modeld_v2/compile_modeld.py
index fc278996b5..0c8cc9870a 100755
--- a/openpilot/sunnypilot/modeld_v2/compile_modeld.py
+++ b/openpilot/sunnypilot/modeld_v2/compile_modeld.py
@@ -187,10 +187,7 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
     queues['feat_q'] = Tensor(np.zeros((feat_q_len, features_buffer[0], feat_dim),
                        dtype=np.float32), device=device).contiguous().realize()
 
-  for key in ('tfm', 'big_tfm'):
-    if key not in npy_arrays:
-      npy_arrays[key] = np.eye(3, dtype=np.float32)
-    queues[key] = Tensor(npy_arrays[key], device='NPY').realize()
+  queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
 
   return queues, npy_arrays
 
diff --git a/openpilot/sunnypilot/models/helpers.py b/openpilot/sunnypilot/models/helpers.py
index 49539c5745..3413d06919 100644
--- a/openpilot/sunnypilot/models/helpers.py
+++ b/openpilot/sunnypilot/models/helpers.py
@@ -209,13 +209,13 @@ def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
     while tidx < constants.IDX_N - 1 and plan_x[tidx + 1] < constants.X_IDXS[xidx]:
       tidx += 1
     if tidx == constants.IDX_N - 1:
-      # if the plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      LINE_T_IDXS[xidx] = constants.T_IDXS[constants.IDX_N - 1]
+      for rem_idx in range(xidx, constants.IDX_N):
+        LINE_T_IDXS[rem_idx] = constants.T_IDXS[constants.IDX_N - 1]
       break
     # interpolate to find `t` for the current xidx
     current_x_val = plan_x[tidx]
     next_x_val = plan_x[tidx + 1]
     p = (constants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(
-      next_x_val - current_x_val) > 1e-9 else float('nan')
+      next_x_val - current_x_val) > 1e-9 else 0.0
     LINE_T_IDXS[xidx] = p * constants.T_IDXS[tidx + 1] + (1 - p) * constants.T_IDXS[tidx]
   return LINE_T_IDXS