diff --git a/opendbc/lexus_is_2018_pt_generated.dbc b/opendbc/lexus_is_2018_pt_generated.dbc
index c0b653f54..08c42d6f1 100644
--- a/opendbc/lexus_is_2018_pt_generated.dbc
+++ b/opendbc/lexus_is_2018_pt_generated.dbc
@@ -365,6 +365,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
diff --git a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
index 528e3d7bf..47c42483a 100644
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -361,6 +361,7 @@ BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
  SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
  SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
@@ -385,4 +386,4 @@ CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
 CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
-VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
\ No newline at end of file
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 570cde7ed..e7eb1771c 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -89,7 +89,7 @@ def get_can_parser(CP):
     signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
     checks.append(("PCM_CRUISE_2", 33))
 
-  if CP.carFingerprint in NO_DSU_CAR:
+  if CP.carFingerprint in NO_DSU_CAR or CP.carFingerprint == CAR.LEXUS_ISH:
     signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
 
   if CP.carFingerprint == CAR.PRIUS:
@@ -183,7 +183,7 @@ class CarState(object):
     self.a_ego = float(v_ego_x[1])
     self.standstill = not v_wheel > 0.001
 
-    if self.CP.carFingerprint in TSS2_CAR:
+    if self.CP.carFingerprint in TSS2_CAR or self.CP.carFingerprint == CAR.LEXUS_ISH:
       self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
     elif self.CP.carFingerprint in NO_DSU_CAR:
       # cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index e1dad095c..8bd715d5a 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -30,7 +30,7 @@ class PathPlanner(object):
     self.setup_mpc(CP.steerRateCost)
     self.solution_invalid_cnt = 0
     self.path_offset_i = 0.0
-    self.curvature_offset = CurvatureLearner(debug=False)
+    #self.curvature_offset = CurvatureLearner(debug=False)
 
   def setup_mpc(self, steer_rate_cost):
     self.libmpc = libmpc_py.libmpc
@@ -60,13 +60,13 @@ class PathPlanner(object):
     # Run MPC
     self.angle_steers_des_prev = self.angle_steers_des_mpc
     VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
-    # curvature_factor = VM.curvature_factor(v_ego)
-    if active:
-      curvfac = self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly, v_ego)
-    else:
-      curvfac = 0.
+    curvature_factor = VM.curvature_factor(v_ego)
+    #if active:
+    #  curvfac = self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly, v_ego)
+    #else:
+    #  curvfac = 0.
 
-    curvature_factor = VM.curvature_factor(v_ego) + curvfac
+    #curvature_factor = VM.curvature_factor(v_ego) + curvfac
 
     # TODO: Check for active, override, and saturation
     # if active: