diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index a37600fc0f..aab07605d1 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -103,44 +103,30 @@ class ModelState:
       return None
 
     self.model.execute()
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
+    outputs = self.parser.parse_outputs(self.slice_outputs(self.output), self.inputs.keys())
 
     self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
     self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
 
     self.inputs['features_buffer'][:] = self.full_features_20Hz[self.feature_buffer_idxs].flatten()
     # Code below needs to be adjusted because the inputs in legacy models were received as flattened arrays
-    # if "desired_curvature" in outputs:
-    #   input_name_prev = None
-    # 
-    #   if "prev_desired_curvs" in self.inputs.keys():
-    #     input_name_prev = 'prev_desired_curvs'
-    #   elif "prev_desired_curv" in self.inputs.keys():
-    #     input_name_prev = 'prev_desired_curv'
-    # 
-    #   if input_name_prev is not None:
-    #     len = outputs['desired_curvature'][0].size
-    #     self.inputs[input_name_prev][0, :-len, 0] = self.inputs[input_name_prev][0, len:, 0]
-    #     self.inputs[input_name_prev][0, -len:, 0] = outputs['desired_curvature'][0]
-    # 
-    # 
-    # if "lat_planner_solution" in outputs:
-    #   if "lat_planner_state" in self.inputs.keys():
-    #     self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
-    #     self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
-    # 
-    # if "desired_curvature" in outputs:
-    #   input_name_prev = None
-    #   if "prev_desired_curvs" in self.inputs.keys():
-    #     input_name_prev = 'prev_desired_curvs'
-    #   elif "prev_desired_curv" in self.inputs.keys():
-    #     input_name_prev = 'prev_desired_curv'
-    # 
-    #   if input_name_prev is not None:
-    #     len = outputs['desired_curvature'][0].size
-    #     self.inputs[input_name_prev][:-len] = self.inputs[input_name_prev][len:]
-    #     self.inputs[input_name_prev][-len:] = outputs['desired_curvature'][0, :len]
+    if "desired_curvature" in outputs:
+      input_name_prev = None
 
+      if "prev_desired_curvs" in self.inputs.keys():
+        input_name_prev = 'prev_desired_curvs'
+      elif "prev_desired_curv" in self.inputs.keys():
+        input_name_prev = 'prev_desired_curv'
+
+      if input_name_prev is not None:
+        len = outputs['desired_curvature'][0].size
+        self.inputs[input_name_prev][:-len] = self.inputs[input_name_prev][len:]
+        self.inputs[input_name_prev][-len:] = outputs['desired_curvature'][0, :]
+
+    if "lat_planner_solution" in outputs:
+      if "lat_planner_state" in self.inputs.keys():
+        self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
+        self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])
     return outputs
 
 
diff --git a/sunnypilot/modeld/parse_model_outputs.py b/sunnypilot/modeld/parse_model_outputs.py
index ad664efc55..1941ab4780 100644
--- a/sunnypilot/modeld/parse_model_outputs.py
+++ b/sunnypilot/modeld/parse_model_outputs.py
@@ -84,7 +84,8 @@ class Parser:
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
-  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+  def parse_outputs(self, outs: dict[str, np.ndarray], input_keys: [str]) -> dict[str, np.ndarray]:
+    """ Parse the model outputs into a dictionary of numpy arrays. The input_keys are used to determine how the output should be parsed. """
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
@@ -96,6 +97,8 @@ class Parser:
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs and "prev_desired_curv" in input_keys:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))