diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index a39b5f0243..3d39f2ee36 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -63,36 +63,30 @@ class ModelState:
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    _inputs_start = {
-      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
-    }
-    _inputs_middle = {
+    _inputs = {
       'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),  # gen2/3
       'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),  # gen3
     }
-    _inputs_end = {
+    if self.custom_model:
+      if self.model_gen == 1:
+        _inputs = {
+          'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32),  # gen1
+        }
+      if self.model_gen == 2:  # gen2
+        _inputs = {
+          'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),  # gen2/3
+          'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32),  # gen2
+        }
+
+    self.inputs = {
+      'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
+      'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
+      **_inputs,
       'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
       'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
       'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
     }
 
-    if self.custom_model and self.model_gen == 1:
-      _inputs_middle = {
-        'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32),  # gen1
-      }
-    if self.custom_model and self.model_gen == 2:  # gen2
-      _inputs_middle = {
-        'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),  # gen2/3
-        'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32),  # gen2
-      }
-
-    self.inputs = {
-      **_inputs_start,
-      **_inputs_middle,
-      **_inputs_end,
-    }
-    
     self.param_s = Params()
 
     if self.param_s.get_bool("CustomDrivingModel"):