diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.cpp
index 0fa8833631..f13bc90c63 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.cpp
@@ -1,9 +1,9 @@
 #include "CarPawnApi.h"
 #include "../../PInvokeWrapper.h"
 
-CarPawnApi::CarPawnApi(CarPawn* pawn, const msr::airlib::Kinematics::State* pawn_kinematics,
+CarPawnApi::CarPawnApi(const msr::airlib::Kinematics::State* pawn_kinematics,
                        const std::string car_name, msr::airlib::CarApiBase* vehicle_api)
-    : pawn_(pawn), pawn_kinematics_(pawn_kinematics), car_name_(car_name), vehicle_api_(vehicle_api)
+    : pawn_kinematics_(pawn_kinematics), car_name_(car_name), vehicle_api_(vehicle_api)
 {
 }
 
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.h
index 5454cb84e2..9cc7b8d38e 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnApi.h
@@ -2,7 +2,6 @@
 
 #include "vehicles/car/api/CarApiBase.hpp"
 #include "physics/Kinematics.hpp"
-#include "CarPawn.h"
 
 class CarPawnApi
 {
@@ -10,7 +9,7 @@ class CarPawnApi
     typedef msr::airlib::ImageCaptureBase ImageCaptureBase;
 
 public:
-    CarPawnApi(CarPawn* pawn, const msr::airlib::Kinematics::State* pawn_kinematics,
+    CarPawnApi(const msr::airlib::Kinematics::State* pawn_kinematics,
                const std::string car_name, msr::airlib::CarApiBase* vehicle_api);
 
     void updateMovement(const msr::airlib::CarApiBase::CarControls& controls);
@@ -24,7 +23,6 @@ class CarPawnApi
 
 private:
     msr::airlib::CarApiBase::CarControls last_controls_;
-    CarPawn* pawn_;
     const msr::airlib::Kinematics::State* pawn_kinematics_;
     std::string car_name_;
     msr::airlib::CarApiBase* vehicle_api_;
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp
index b0d84284c2..2bdaba78d7 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.cpp
@@ -6,30 +6,27 @@
 #include "../../UnityUtilities.hpp"
 #include "../../UnitySensors/UnitySensorFactory.h"
 
-CarPawnSimApi::CarPawnSimApi(const Params& params,
-                             const msr::airlib::CarApiBase::CarControls& keyboard_controls, std::string car_name)
-    : PawnSimApi(params), params_(params), keyboard_controls_(keyboard_controls), car_name_(car_name)
+CarPawnSimApi::CarPawnSimApi(const Params& params, std::string car_name)
+    : PawnSimApi(params), params_(params), car_name_(car_name)
 {
-    createVehicleApi(static_cast<CarPawn*>(params.pawn), params.home_geopoint);
-    joystick_controls_ = msr::airlib::CarApiBase::CarControls();
 }
 
 void CarPawnSimApi::initialize()
 {
     PawnSimApi::initialize();
 
-    createVehicleApi(static_cast<CarPawn*>(params_.pawn), params_.home_geopoint);
+    createVehicleApi(params_.home_geopoint);
 
     //TODO: should do reset() here?
     joystick_controls_ = msr::airlib::CarApiBase::CarControls();
 }
 
-void CarPawnSimApi::createVehicleApi(CarPawn* pawn, const msr::airlib::GeoPoint& home_geopoint)
+void CarPawnSimApi::createVehicleApi(const msr::airlib::GeoPoint& home_geopoint)
 {
     std::shared_ptr<UnitySensorFactory> sensor_factory = std::make_shared<UnitySensorFactory>(car_name_, &getNedTransform());
 
     vehicle_api_ = CarApiFactory::createApi(getVehicleSetting(), sensor_factory, (*getGroundTruthKinematics()), (*getGroundTruthEnvironment()), home_geopoint);
-    pawn_api_ = std::unique_ptr<CarPawnApi>(new CarPawnApi(pawn, getGroundTruthKinematics(), car_name_, vehicle_api_.get()));
+    pawn_api_ = std::unique_ptr<CarPawnApi>(new CarPawnApi(getGroundTruthKinematics(), car_name_, vehicle_api_.get()));
 }
 
 std::string CarPawnSimApi::getRecordFileLine(bool is_header_line) const
@@ -79,8 +76,8 @@ void CarPawnSimApi::updateRendering(float dt)
     PawnSimApi::updateRendering(dt);
     updateCarControls();
 
-    for (auto i = 0; i < vehicle_api_messages_.size(); ++i) {
-        PrintLogMessage(vehicle_api_messages_[i].c_str(), "LogDebugLevel::Success", car_name_.c_str(), ErrorLogSeverity::Information);
+    for (const auto& message : vehicle_api_messages_) {
+        PrintLogMessage(message.c_str(), "LogDebugLevel::Success", car_name_.c_str(), ErrorLogSeverity::Information);
     }
 
     try {
@@ -137,7 +134,6 @@ void CarPawnSimApi::updateCarControls()
     }
     else {
         PrintLogMessage("Control Mode: ", "Keyboard", getVehicleName().c_str(), ErrorLogSeverity::Information);
-        current_controls_ = keyboard_controls_;
     }
 
     bool api_enabled = vehicle_api_->isApiControlEnabled();
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.h
index 232c365aaa..da9b2b948a 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.h
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/CarPawnSimApi.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include "CarPawn.h"
 #include "CarPawnApi.h"
 #include "../../PawnSimApi.h"
 #include "vehicles/car/api/CarApiBase.hpp"
@@ -15,12 +14,12 @@ class CarPawnSimApi : public PawnSimApi
     typedef msr::airlib::Pose Pose;
 
 private:
-    void createVehicleApi(CarPawn* pawn, const msr::airlib::GeoPoint& home_geopoint);
+    void createVehicleApi(const msr::airlib::GeoPoint& home_geopoint);
     void updateCarControls();
 
 public:
     virtual void initialize() override;
-    CarPawnSimApi(const Params& params, const msr::airlib::CarApiBase::CarControls& keyboard_controls, std::string car_name);
+    CarPawnSimApi(const Params& params, std::string car_name);
     virtual ~CarPawnSimApi() = default;
 
     virtual void update() override;
@@ -46,7 +45,4 @@ class CarPawnSimApi : public PawnSimApi
     msr::airlib::CarApiBase::CarControls joystick_controls_;
     msr::airlib::CarApiBase::CarControls current_controls_;
     std::string car_name_;
-
-    //storing reference from pawn
-    const msr::airlib::CarApiBase::CarControls& keyboard_controls_;
 };
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp
index 32470a67c8..1a1a8469be 100644
--- a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp
+++ b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Car/SimModeCar.cpp
@@ -88,11 +88,7 @@ UnityPawn* SimModeCar::GetVehiclePawn()
 
 std::unique_ptr<PawnSimApi> SimModeCar::createVehicleSimApi(const PawnSimApi::Params& pawn_sim_api_params) const
 {
-    auto vehicle_pawn = static_cast<TVehiclePawn*>(pawn_sim_api_params.pawn);
-
-    auto vehicle_sim_api = std::unique_ptr<PawnSimApi>(new CarPawnSimApi(pawn_sim_api_params,
-                                                                         vehicle_pawn->getKeyBoardControls(),
-                                                                         vehicle_name_));
+    auto vehicle_sim_api = std::unique_ptr<PawnSimApi>(new CarPawnSimApi(pawn_sim_api_params, vehicle_name_));
     vehicle_sim_api->initialize();
     vehicle_sim_api->reset();
     return vehicle_sim_api;
@@ -102,4 +98,4 @@ msr::airlib::VehicleApiBase* SimModeCar::getVehicleApi(const PawnSimApi::Params&
 {
     const auto car_sim_api = static_cast<const CarPawnSimApi*>(sim_api);
     return car_sim_api->getVehicleApi();
-}
\ No newline at end of file
+}