text: import math
  
  from cereal import log
  from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
  
  STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
  
  
  class LatControlAngle(LatControl):
    def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
      angle_log = log.ControlsState.LateralAngleState.new_message()
  
      if CS.vEgo < MIN_STEER_SPEED or not active:
        angle_log.active = False
        angle_steers_des = float(CS.steeringAngleDeg)
      else:
        angle_log.active = True
        angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
        angle_steers_des += params.angleOffsetDeg
  
      angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
      angle_log.saturated = self._check_saturation(angle_control_saturated, CS)
      angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
      angle_log.steeringAngleDesiredDeg = angle_steers_des
      return 0, float(angle_steers_des), angle_log
  