diff --git a/sunray/LineTracker.cpp b/sunray/LineTracker.cpp
index 858d3af93..d561076e5 100644
--- a/sunray/LineTracker.cpp
+++ b/sunray/LineTracker.cpp
@@ -268,7 +268,9 @@ void trackLine(bool runControl){
     //CONSOLE.println(angular/PI*180.0);            
     if (maps.trackReverse) linear *= -1;   // reverse line tracking needs negative speed
     // restrict steering angle for stanley  (not required anymore after last state estimation bugfix)
-    //if (!SMOOTH_CURVES) angular = max(-PI/16, min(PI/16, angular)); 
+    if (STANLEY_STEERING_RESTRICTION) {
+      if (!SMOOTH_CURVES) angular = max(-PI/16, min(PI/16, angular));
+    }
   }
   // check some pre-conditions that can make linear+angular speed zero
   if (fixTimeout != 0){
diff --git a/sunray/config_example.h b/sunray/config_example.h
index fe0bfbdd8..ae3875306 100644
--- a/sunray/config_example.h
+++ b/sunray/config_example.h
@@ -394,6 +394,7 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
 #define STANLEY_CONTROL_P_SLOW    3.0   // 3.0 for path tracking control (angular gain) when docking tracking
 #define STANLEY_CONTROL_K_SLOW    0.1   // 0.1 for path tracking control (lateral gain) when docking tracking
 
+#define STANLEY_STEERING_RESTRICTION false   // restrict steering angle for stanley (set to true to activate)
 
 // ----- other options --------------------------------------------