      angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
  
      pid_log.angleError = angle_steers_des - CS.steeringAngleDeg
      if CS.vEgo < 0.3 or not active:
        output_steer = 0.0
        pid_log.active = False
        self.pid.reset()
      else:
 
</s> remove     angle_log.steeringAngleDeg = angle_steers_des
 </s> add     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    angle_log.steeringAngleDesiredDeg = angle_steers_des 
 </s> remove     lqr_log.steeringAngleDeg = angle_steers_k + params.angleOffsetAverageDeg
 </s> add     lqr_log.steeringAngleDeg = angle_steers_k </s> remove 
      rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo)

 </s> add 
    pid_log.steeringAngleDesiredDeg = angle_steers_des 
      angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
  
    pid_log.steeringAngleDesiredDeg = angle_steers_des 
      pid_log.angleError = angle_steers_des - CS.steeringAngleDeg
      if CS.vEgo < 0.3 or not active:
        output_steer = 0.0
        pid_log.active = False
        self.pid.reset()
      else:
keep add keep keep keep keep keep keep
 add desired angle to log (#23115)

* add desired angle to log

* update ref

* bump cereal 
selfdrive/controls/lib/latcontrol_pid.py