diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 1c1d8ebfed..92785b07d4 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -490,11 +490,12 @@ class Controls:
       actuators.accel = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits)
 
       # Steering PID loop and lateral MPC
+      lat_active = self.active and not CS.steerWarning and not CS.steerError and CS.vEgo > self.CP.minSteerSpeed
       desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
                                                                              lat_plan.psis,
                                                                              lat_plan.curvatures,
                                                                              lat_plan.curvatureRates)
-      actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(self.active, CS, self.CP, self.VM, params,
+      actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(lat_active, CS, self.CP, self.VM, params,
                                                                              desired_curvature, desired_curvature_rate)
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()