Baltimore Ravens WR Torrey Smith, who's been dealing with a minor ankle injury since hurting it against Atlanta almost two weeks ago, expects to play Thursday in a preseason game against Jacksonville.

The game will be the Ravens' third preseason contest, which figures to have starters play significant minutes.

"I should be good to go," Smith said. "I could've played (Friday)."

Smith returned to practice Sunday at Stevenson University in Owings Mills, Md., in front of about 2,800.

Smith wasn't scratched before Friday's kickoff against Detroit but was ultimately held out. He said the Ravens were being cautious even though his ankle felt better. Smith described the ankle injury as something that's lingering but improving.

"I can't complain, I'm running and it's only going to get better and better," Smith said.

Coach John Harbaugh was pleased with how Smith played practice. Smith was smooth in his routes and caught a tough pass thrown high that drew praise from the crowd.

"Torrey looked OK," Harbaugh said. "He was a little tight early, but I thought he loosened up a little bit."

Film review: Harbaugh wasn't thrilled with the Ravens' performance against Detroit right after the game. After watching tape, Harbaugh said his mind changed some.

"I feel a lot better about it after watching the tape than I did driving home after the game, I can tell you that," he said. "A lot of good things, the things that weren't good are easily correctable. I was really disappointed with some of the mental errors in the second half with the second defense. But all things can be corrected. The big thing was finishing plays."

The Ravens had four scoring chances against Detroit but settled for field goals each time. They also had nine penalties for 79 yards for the game.

Tucker misses: K Billy Cundiff bested rookie Justin Tucker in field goal percentage Sunday. Cundiff made his four kicks from 30, 37, 41 and 44 yards. Tucker was 4 of 5 with makes from 30, 37, 39 and 54. He missed wide left from 44.

Defensive breakdown: Baltimore's third-team offense got a surprise big play against the first-team defense in practice. QB Curtis Painter found WR Dorian Graham deep down the right side of the field, behind CB Lardarius Webb and S Bernard Pollard. The Ravens' secondary has allowed some big plays in preseason games against Atlanta and Detroit, although those teams have some of the league's top receivers.

Absences: DE Pernell McPhee was excused from practice due to a death in his family. Special teams coordinator Jerry Rosburg was also excused from practice to be with his family following his mother's death. Harbaugh led the special teams unit during practice.

Injury report: WR David Reed (ACL), LB Josh Bynes (vertebrae), OLB Terrell Suggs (Achilles), OL Jah Reid (calf), TE Ed Dickson (shoulder), TE Dennis Pitta (hand) and DT Ryan McBean (broken ankle) missed practice. S Sean Considine (undisclosed) and OLB Sergio Kindle (shoulder stinger) were limited and wearing non-contact jerseys.

WR Devin Goda (undisclosed) and LB Darryl Blackstock (groin) returned to practice Sunday.

Follow Ravens reporter Jason Butt on Twitter: @CBSSportsNFLBAL and @JasonButtCBS.