diff --git a/selfdrive/controls/lib/disturbance_controller.py b/selfdrive/controls/lib/disturbance_controller.py
index e701d7c76..fbe13dcbf 100644
--- a/selfdrive/controls/lib/disturbance_controller.py
+++ b/selfdrive/controls/lib/disturbance_controller.py
@@ -41,8 +41,10 @@ class DisturbanceController:
     return current_value - lowpass_value
 
   def compensate(self, CS, VM, params, calibrated_pose, desired_curvature):
+    if calibrated_pose is None:
+      return desired_curvature
+      
     actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, 0.)
-    assert calibrated_pose is not None
     actual_curvature_3dof = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x, calibrated_pose.angular_velocity.yaw,
                                                     CS.vEgo, math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), 0.)
     actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_3dof])