diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py
index f0920942b..415e247ab 100644
--- a/common/transformations/orientation.py
+++ b/common/transformations/orientation.py
@@ -46,7 +46,6 @@ quats_from_rotations = rot2quat
 quat_from_rot = rot2quat
 rotations_from_quats = quat2rot
 rot_from_quat = quat2rot
-rot_from_quat = quat2rot
 euler_from_rot = rot2euler
 euler_from_quat = quat2euler
 rot_from_euler = euler2rot
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 294b96c5e..6cf5c85a6 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -14,8 +14,6 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
     if fingerprint is None:
       fingerprint = gen_empty_fingerprint()
-    if car_fw is None:
-      car_fw = []
 
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "chrysler"
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 68b370124..ebfed713c 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -232,7 +232,7 @@ int main(int argc, char **argv) {
         model_publish(pm, extra.frame_id, frame_id,  vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
         posenet_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
 
-        LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu, frame_drop %.3f%", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_perc);
+        LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_perc);
         last = mt1;
         last_vipc_frame_id = extra.frame_id;
       }
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index f0058989a..37dfd5c18 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -230,7 +230,6 @@ def ui_thread(addr, frame_address):
     pygame.surfarray.blit_array(*top_down)
     screen.blit(top_down[0], (640, 0))
 
-    i = 0
     SPACING = 25
 
     lines = [