diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py
index 11198808a..3f8f84e77 100644
--- a/selfdrive/controls/lib/latcontrol_curvature.py
+++ b/selfdrive/controls/lib/latcontrol_curvature.py
@@ -1,45 +1,43 @@
-#import math
-#import numpy as np
-#
-#from cereal import log
-#from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-#from openpilot.selfdrive.controls.lib.latcontrol import LatControl
-#from openpilot.common.pid import PIDController
-#
-#
-#class LatControlCurvature(LatControl):
-#  def __init__(self, CP, CI):
-#    super().__init__(CP, CI)
-#    self.curvature_params = CP.lateralTuning.curvature.as_builder()
-#    self.pid = PIDController(self.curvature_params.kp, self.curvature_params.ki,
-#                             k_f=self.curvature_params.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)
-#
-#  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
-#    pid_log = log.ControlsState.LateralCurvatureState.new_message()
-#    if not active:
-#      output_curvature = 0.0
-#      pid_log.active = False
-#    else:
-#      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
-#      #roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
-#
-#      assert calibrated_pose is not None
-#      actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-#      actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
-#
-#      pid_log.error = float(desired_curvature - actual_curvature)
-#
-#      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
-#      output_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
-#
-#      pid_log.active = True
-#      pid_log.p = float(self.pid.p)
-#      pid_log.i = float(self.pid.i)
-#      pid_log.d = float(self.pid.d)
-#      pid_log.f = float(self.pid.f)
-#      pid_log.output = float(output_curvature)
-#      pid_log.actualCurvature = float(actual_curvature)
-#      pid_log.desiredCurvature = float(desired_curvature)
-#      pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
-#
-#    return 0.0, 0.0, pid_log
+import math
+import numpy as np
+
+from cereal import log
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.common.pid import PIDController
+
+
+class LatControlCurvature(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
+                             (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
+                             k_f=CP.lateralTuning.pid.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)
+
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+    pid_log = log.ControlsState.LateralCurvatureState.new_message()
+    if not active:
+      output_curvature = 0.0
+      pid_log.active = False
+    else:
+      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
+
+      assert calibrated_pose is not None
+      actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
+      actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
+
+      pid_log.error = float(desired_curvature - (actual_curvature + roll_compensation))
+
+      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
+      output_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
+
+      pid_log.active = True
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(output_curvature)
+      pid_log.actualCurvature = float(actual_curvature)
+      pid_log.desiredCurvature = float(desired_curvature)
+      pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < 1e-5, CS, steer_limited_by_controls, curvature_limited))
+
+    return 0.0, 0.0, output_curvature, pid_log