diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index cadf8de100..d645835f7a 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -97,14 +97,19 @@ class ModelState:
     self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
 
     self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
+
     if "desired_curvature" in outputs:
+      input_name_prev = None
+
       if "prev_desired_curvs" in self.numpy_inputs.keys():
-        self.numpy_inputs['prev_desired_curvs'][:-1] = self.numpy_inputs['prev_desired_curvs'][1:]
-        self.numpy_inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][:, 0:1, None]  # Reshape to (1,1,1)
-      if "prev_desired_curv" in self.numpy_inputs.keys():
-        # First shift everything
-        self.numpy_inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.numpy_inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
-        self.numpy_inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][:, :1].reshape(1, -1, 1)
+        input_name_prev = 'prev_desired_curvs'
+      elif "prev_desired_curv" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curv'
+
+      if input_name_prev is not None:
+        len = outputs['desired_curvature'][0].size
+        self.numpy_inputs[input_name_prev][0, :-len, 0] = self.numpy_inputs[input_name_prev][0, len:, 0]
+        self.numpy_inputs[input_name_prev][0, -len:, 0] = outputs['desired_curvature'][0]
     return outputs