diff --git a/cmake/modules/CompilerFlags.cmake b/cmake/modules/CompilerFlags.cmake
index 4331baf9..a248854d 100644
--- a/cmake/modules/CompilerFlags.cmake
+++ b/cmake/modules/CompilerFlags.cmake
@@ -2,7 +2,7 @@ macro(compiler_flags target)
     if(NOT MSVC)
         target_compile_options(
             ${target}
-            PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter
+            PRIVATE -Wall -pedantic -Wextra -Werror
         )
     else()
         # Suppress the following warnings:
diff --git a/src/optimization/HolonomicTrajoptUtil.hpp b/src/optimization/HolonomicTrajoptUtil.hpp
index d453a847..9f1147ed 100644
--- a/src/optimization/HolonomicTrajoptUtil.hpp
+++ b/src/optimization/HolonomicTrajoptUtil.hpp
@@ -19,8 +19,10 @@ inline void ApplyHolonomicConstraint(
     sleipnir::OptimizationProblem& problem, const sleipnir::Variable& x,
     const sleipnir::Variable& y, const sleipnir::Variable& theta,
     const sleipnir::Variable& vx, const sleipnir::Variable& vy,
-    const sleipnir::Variable& omega, const sleipnir::Variable& ax,
-    const sleipnir::Variable& ay, const sleipnir::Variable& alpha,
+    const sleipnir::Variable& omega,
+    [[maybe_unused]] const sleipnir::Variable& ax,
+    [[maybe_unused]] const sleipnir::Variable& ay,
+    [[maybe_unused]] const sleipnir::Variable& alpha,
     const HolonomicConstraint& constraint) {
   if (std::holds_alternative<HolonomicVelocityConstraint>(constraint)) {
     const auto& velocityHolonomicConstraint =