diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 144a0a8b44..5ed86e457f 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets):
 class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False, track_all_points=False):
     self.hist_len = int(HISTORY / DT_MDL)
-    self.lag = CP.steerActuatorDelay + .2  # from controlsd
+    self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10