diff --git a/selfdrive/controls/lib/disturbance_controller.py b/selfdrive/controls/lib/disturbance_controller.py
index c52a0f568..a37850960 100644
--- a/selfdrive/controls/lib/disturbance_controller.py
+++ b/selfdrive/controls/lib/disturbance_controller.py
@@ -15,15 +15,15 @@ class DisturbanceController:
     self.alpha_prev = ALPHA_MIN
     self.desired_curvature_prev = 0.0
     self.pid = PIDController(1, 0, k_f=0, pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE)
-    self.reaction_hist = deque([0.0], maxlen=int(round(CP.steerActuatorDelay / DT_CTRL))+1)
+    #self.reaction_hist = deque([0.0], maxlen=int(round(CP.steerActuatorDelay / DT_CTRL))+1)
 
   def reset(self):
     self.lowpass_filtered = 0.0
     self.alpha_prev = ALPHA_MIN
     self.desired_curvature_prev = 0.0
     self.pid.reset()
-    self.reaction_hist.clear()
-    self.reaction_hist.append(0.0)
+    #self.reaction_hist.clear()
+    #self.reaction_hist.append(0.0)
 
   def compute_dynamic_alpha(self, desired_curvature, dt=DT_CTRL, A=0.02, n=2.0, beta=3.0, k=2.0):
     d_desired = abs(desired_curvature - self.desired_curvature_prev) / dt
@@ -49,20 +49,20 @@ class DisturbanceController:
     if calibrated_pose is None or CS.vEgo < 0.1:
       return desired_curvature
 
-    #steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
-    #actual_curvature = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x,
-    #                                           calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset,
-    #                                           0.)
+    steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
+    actual_curvature = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x,
+                                               calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset,
+                                               0.)
     
-    actual_curvature = calibrated_pose.acceleration.y / (CS.vEgo ** 2)
+    #actual_curvature = calibrated_pose.acceleration.y / (CS.vEgo ** 2)
     
     alpha = self.compute_dynamic_alpha(desired_curvature)
     reaction = self.lowpass_filter(actual_curvature, alpha)
-    self.reaction_hist.append(reaction)
+    #self.reaction_hist.append(reaction)
     disturbance = self.highpass_filter(actual_curvature, reaction)
 
-    reaction_delayed = self.reaction_hist[0]
-    error = desired_curvature - (reaction_delayed + disturbance)
+    #reaction_delayed = self.reaction_hist[0]
+    error = desired_curvature - disturbance #(reaction_delayed + disturbance)
 
     output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)