diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e756cfc6a..5ba636468 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -172,7 +172,7 @@ class Controls(ControlsExt, ModelStateBase):
     steer, steeringAngleDeg, curvature, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                   self.steer_limited_by_safety, self.desired_curvature,
                                                                   self.calibrated_pose, curvature_limited)  # TODO what if not available
-    actuators.curvature = float(curvature) if self.enable_curvature_controller else self.desired_curvature
+    actuators.curvature = float(curvature)
     actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py
index 7f0a86453..4b4eb8f21 100644
--- a/selfdrive/controls/lib/latcontrol_curvature.py
+++ b/selfdrive/controls/lib/latcontrol_curvature.py
@@ -1,9 +1,5 @@
-import math
-import numpy as np
-
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
-from openpilot.common.pid_mu import MultiplicativeUnwindPID
 
 CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
 
@@ -11,46 +7,19 @@ CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
 class LatControlCurvature(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
-    self.useCarSteerCurvature = CP.useCarSteerCurvature
-    self.pid = MultiplicativeUnwindPID((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 reset(self):
     super().reset()
-    self.pid.reset()
   
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
-    pid_log = log.ControlsState.LateralCurvatureState.new_message()
-    if not active:
-      output_curvature = 0.0
-      pid_log.active = False
-      self.pid.reset()
-    else:
-      roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
-      actual_curvature_vm_no_roll = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, 0.)
-      actual_curvature_vm = actual_curvature_vm_no_roll - roll_compensation
-      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])
+    curvature_log = log.ControlsState.LateralCurvatureState.new_message()
+    actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+    output_curvature = desired_curvature
+    
+    curvature_log.active = active
+    curvature_log.output = float(output_curvature)
+    curvature_log.actualCurvature = float(actual_curvature)
+    curvature_log.desiredCurvature = float(output_curvature)
+    curvature_log.saturated = bool(self._check_saturation(steer_limited_by_safety, CS, False, curvature_limited)) if active else False
 
-      desired_curvature_corr = desired_curvature - roll_compensation
-      
-      pid_log.error = float(desired_curvature - actual_curvature)
-      freeze_integrator = steer_limited_by_safety or CS.vEgo < 5 or CS.steeringPressed
-      
-      pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
-                                      freeze_integrator=freeze_integrator, override=CS.steeringPressed)
-
-      output_curvature = pid_curvature + (CS.steeringCurvature - actual_curvature_vm_no_roll) if self.useCarSteerCurvature else pid_curvature
-
-      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(steer_limited_by_safety, CS, False, curvature_limited))
-
-    return 0.0, 0.0, output_curvature, pid_log
+    return 0.0, 0.0, output_curvature, curvature_log