diff --git a/selfdrive/controls/lib/disturbance_controller.py b/selfdrive/controls/lib/disturbance_controller.py
index f3d544826..e8490ee72 100644
--- a/selfdrive/controls/lib/disturbance_controller.py
+++ b/selfdrive/controls/lib/disturbance_controller.py
@@ -50,11 +50,9 @@ class DisturbanceController:
       return desired_curvature
 
     steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
-    actual_curvature_vm = -VM.calc_curvature(steering_angle_without_offset, CS.vEgo, 0.)
-    actual_curvature_3dof = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x,
+    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 = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_3dof])
                       
     alpha = self.compute_dynamic_alpha(desired_curvature)
     reaction = self.lowpass_filter(actual_curvature, alpha)