diff --git a/opendbc_repo b/opendbc_repo
index f1c36ab4d3..c8f2176eff 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f1c36ab4d3adab8848bbb2be965d7ae450bcd211
+Subproject commit c8f2176eff6f75d7530eb086909c9272084d8ef4
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index ecd4433605..56a3258a5c 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -17,7 +17,6 @@ from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
-from openpilot.selfdrive.controls.lib.latcontrol_angle_torque import LatControlAngleTorque
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -62,9 +61,7 @@ class Controls(ControlsExt, ModelStateBase):
     self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
     self.LaC: LatControl
-    if self.CP.steerControlType == car.CarParams.SteerControlType.angle and self.CP.lateralTuning.which() == 'torque':
-      self.LaC = LatControlAngleTorque(self.CP, self.CP_SP, self.CI)
-    elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       self.LaC = LatControlAngle(self.CP, self.CP_SP, self.CI)
     elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI)