diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index dde742f159..25bb190fcd 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -54,9 +54,8 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                                      ModelConstants.T_IDXS,
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
-    desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2],
-                                                plan[:, Plan.ORIENTATION_RATE][:, 2],
-                                                ModelConstants.T_IDXS, v_ego, lat_action_t)
+
+    desired_curvature = model_output['desired_curvature'][0, 0]
     if v_ego > MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
     else:
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 5b9b686829..2075792f4d 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8a478376723ba79e2393ca95e2d3e497571ba6fed113e5f13a36f0e4b4d4a7c5
-size 15588463
+oid sha256:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198
+size 15578328
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 0a7b4a803d..5e08b78472 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e
+oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177
 size 46265585