diff --git a/selfdrive/controls/lib/latcontrol_craycray.py b/selfdrive/controls/lib/latcontrol_craycray.py
index 09b9d455f..f438205c4 100644
--- a/selfdrive/controls/lib/latcontrol_craycray.py
+++ b/selfdrive/controls/lib/latcontrol_craycray.py
@@ -2,6 +2,8 @@ from selfdrive.controls.lib.pid import PIController
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
 from cereal import log
 
+CURVATURE_SCALE = 200
+
 
 class LatControlCrayCray(LatControl):
   def __init__(self, CP, CI):
@@ -13,6 +15,7 @@ class LatControlCrayCray(LatControl):
     self.steer_max = 1.0
     self.pid.pos_limit = self.steer_max
     self.pid.neg_limit = -self.steer_max
+    self.use_steering_angle = False
 
   def reset(self):
     super().reset()
@@ -31,13 +34,18 @@ class LatControlCrayCray(LatControl):
       self.pid.reset()
     else:
       # TODO lateral acceleration works great at high speed, not so much at low speed
-      lateral_accel_desired = desired_curvature * CS.vEgo**2
-      lateral_accel_actual = llk.angularVelocityCalibrated.value[2] * CS.vEgo
+      if self.use_steering_angle:
+        actual_curvature = VM.calc_curvature(-(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      else:
+        actual_curvature = llk.angularVelocityCalibrated.value[2] / CS.vEgo
+      desired_lateral_accel = desired_curvature * CS.vEgo**2
+      actual_lateral_accel = actual_curvature * CS.vEgo**2
 
-      deadzone = 0.0
+      setpoint = desired_lateral_accel + CURVATURE_SCALE * desired_curvature
+      measurement = actual_lateral_accel + CURVATURE_SCALE * actual_curvature
 
-      output_torque = self.pid.update(lateral_accel_desired, lateral_accel_actual, override=CS.steeringPressed,
-                                      feedforward=lateral_accel_desired, speed=CS.vEgo, deadzone=deadzone)
+      output_torque = self.pid.update(setpoint, measurement, override=CS.steeringPressed,
+                                      feedforward=desired_lateral_accel, speed=CS.vEgo)
       pid_log.active = True
       pid_log.p = self.pid.p
       pid_log.i = self.pid.i