diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 459d233136..7bd0abc115 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -1,16 +1,10 @@
 import math
-import numpy as np
 
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
-# Speed-based scaling configuration for steering responsiveness
-#  As speed increases, we apply more of the desired steering angle change
-SPEED_BREAKPOINTS_MS = [0, 3, 6, 10]  # Speed breakpoints in m/s
-STEERING_FACTOR_AT_SPEED = [0, 0.2, 0.45, 1.0]  # Corresponding steering influence factors
-# 0 = ignore desired angle (keep current steering), 1.0 = fully apply desired angle change
 
 class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI):
@@ -25,18 +19,11 @@ class LatControlAngle(LatControl):
       angle_steers_des = float(CS.steeringAngleDeg)
     else:
       angle_log.active = True
-
-      # Compute the fully desired steering angle based on curvature
-      raw_angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
-      raw_angle_steers_des += params.angleOffsetDeg  # Apply calibration offset
-
-      # Calculate the scaling factor. At lower speeds, we apply less of the desired steering change to avoid jerky movements
-      speed_scaling_factor = np.interp(CS.vEgo, SPEED_BREAKPOINTS_MS, STEERING_FACTOR_AT_SPEED)
-      angle_steers_des = CS.steeringAngleDeg + speed_scaling_factor * (raw_angle_steers_des - CS.steeringAngleDeg)
+      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
+      angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
     angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
-    angle_log.steeringAngleDesiredDeg = float(angle_steers_des)
-
-    return 0, float(angle_steers_des), angle_log
\ No newline at end of file
+    angle_log.steeringAngleDesiredDeg = angle_steers_des
+    return 0, float(angle_steers_des), angle_log