diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index 1facb66d63..5227757f0e 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -14,7 +14,7 @@ CAMERA_OFFSET = 0.04
 
 
 class LanePlanner:
-  def __init__(self, wide_camera=False):
+  def __init__(self):
     self.ll_t = np.zeros((TRAJECTORY_SIZE,))
     self.ll_x = np.zeros((TRAJECTORY_SIZE,))
     self.lll_y = np.zeros((TRAJECTORY_SIZE,))
@@ -33,8 +33,8 @@ class LanePlanner:
     self.l_lane_change_prob = 0.
     self.r_lane_change_prob = 0.
 
-    self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
-    self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET
+    self.camera_offset = -CAMERA_OFFSET
+    self.path_offset = -PATH_OFFSET
 
   def parse_model(self, md):
     lane_lines = md.laneLines
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 655da4cf6a..b007a7d2d2 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -26,9 +26,9 @@ STEERING_RATE_COST = 700.0
 
 
 class LateralPlanner:
-  def __init__(self, CP, use_lanelines=True, wide_camera=False):
+  def __init__(self, CP, use_lanelines=True):
     self.use_lanelines = use_lanelines
-    self.LP = LanePlanner(wide_camera)
+    self.LP = LanePlanner()
     self.DH = DesireHelper()
 
     # Vehicle model parameters used to calculate lateral movement of car
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index be34c7c968..ff2281db34 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -35,12 +35,11 @@ def plannerd_thread(sm=None, pm=None):
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   use_lanelines = False
-  wide_camera = params.get_bool('WideCameraOnly')
 
   cloudlog.event("e2e mode", on=use_lanelines)
 
   longitudinal_planner = LongitudinalPlanner(CP)
-  lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
+  lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines)
 
   if sm is None:
     sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'longitudinalPlan', 'lateralPlan', 'liveMapData', 'navInstruction', 'e2eLongState'],