From 735f2ffa8fb1d0c8587199482ad6e5554239d7b6 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 15 Nov 2025 13:40:14 -0600
Subject: [PATCH] Update frogpilot_planner.py

---
 frogpilot/controls/frogpilot_planner.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/frogpilot/controls/frogpilot_planner.py b/frogpilot/controls/frogpilot_planner.py
index 5c2047b21..93328d2fe 100644
--- a/frogpilot/controls/frogpilot_planner.py
+++ b/frogpilot/controls/frogpilot_planner.py
@@ -87,7 +87,7 @@ class FrogPilotPlanner:
 
       params_memory.remove("LastGPSPosition")
 
-    self.lateral_acceleration = v_ego**2 * (sm["carState"].steeringAngleDeg - sm["liveParameters"].angleOffsetDeg) * CV.DEG_TO_RAD / (self.CP.steerRatio * self.CP.wheelbase)
+    self.lateral_acceleration = v_ego**2 * sm["controlsState"].curvature
 
     check_lane_width = frogpilot_toggles.adjacent_paths or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
     if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed: