diff --git a/frogpilot/tinygrad_modeld/models/dmonitoring_model_tinygrad.pkl b/frogpilot/tinygrad_modeld/models/dmonitoring_model_tinygrad.pkl
index 5f47c79af..b1dc19d65 100644
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diff --git a/frogpilot/tinygrad_modeld/models/driving_policy_metadata.pkl b/frogpilot/tinygrad_modeld/models/driving_policy_metadata.pkl
index fd4b3ff7e..b65b0e53a 100644
Binary files a/frogpilot/tinygrad_modeld/models/driving_policy_metadata.pkl and b/frogpilot/tinygrad_modeld/models/driving_policy_metadata.pkl differ
diff --git a/frogpilot/tinygrad_modeld/models/driving_policy_tinygrad.pkl b/frogpilot/tinygrad_modeld/models/driving_policy_tinygrad.pkl
index c049c6080..06a156a11 100644
Binary files a/frogpilot/tinygrad_modeld/models/driving_policy_tinygrad.pkl and b/frogpilot/tinygrad_modeld/models/driving_policy_tinygrad.pkl differ
diff --git a/frogpilot/tinygrad_modeld/models/driving_vision_tinygrad.pkl b/frogpilot/tinygrad_modeld/models/driving_vision_tinygrad.pkl
index bd9879a09..f3d5428d7 100644
Binary files a/frogpilot/tinygrad_modeld/models/driving_vision_tinygrad.pkl and b/frogpilot/tinygrad_modeld/models/driving_vision_tinygrad.pkl differ
diff --git a/frogpilot/tinygrad_modeld/tinygrad_modeld.py b/frogpilot/tinygrad_modeld/tinygrad_modeld.py
index f7e1e4ff7..3e37c700b 100755
--- a/frogpilot/tinygrad_modeld/tinygrad_modeld.py
+++ b/frogpilot/tinygrad_modeld/tinygrad_modeld.py
@@ -57,7 +57,9 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                                                  action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
 
-    desired_curvature = model_output['desired_curvature'][0, 0]
+    desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2],
+                                                plan[:, Plan.ORIENTATION_RATE][:, 2],
+                                                ModelConstants.T_IDXS, v_ego, lat_action_t)
     if v_ego > MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
     else: