diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index ae5db046e1..dfff26d9db 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -41,6 +41,7 @@ class Controls:
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
     self.steer_limited_by_controls = False
+    self.curvature = 0.0
     self.desired_curvature = 0.0
 
     self.pose_calibrator = PoseCalibrator()
@@ -73,6 +74,9 @@ class Controls:
     sr = max(lp.steerRatio, 0.1)
     self.VM.update_params(x, sr)
 
+    steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
+    self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
+
     # Update Torque Params
     if self.CP.lateralTuning.which() == 'torque':
       torque_params = self.sm['liveTorqueParameters']
@@ -110,7 +114,10 @@ class Controls:
     actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC
-    self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, lp.roll)
+    # Reset desired curvature to current to avoid violating the limits on engage
+    new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
+    self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
+
     actuators.curvature = self.desired_curvature
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                        self.steer_limited_by_controls, self.desired_curvature,
@@ -175,10 +182,7 @@ class Controls:
     dat.valid = CS.canValid
     cs = dat.controlsState
 
-    lp = self.sm['liveParameters']
-    steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
-    cs.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
-
+    cs.curvature = self.curvature
     cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
     cs.desiredCurvature = self.desired_curvature
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 20f6d1d069..73b2b61245 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-e239a1683b7f97c9d8dca74c57ebf4ef8bc416cd
\ No newline at end of file
+1904f49bcc97370a842aeee1f831e9ced5a6cad6
\ No newline at end of file