      # the signal is zeroed to where the steering angle is at start.
      # Need to apply an offset as soon as the steering angle measurements are both received
      self.needs_angle_offset = True
      self.accurate_steer_angle_seen = False
      self.angle_offset = 0.
  
      self.low_speed_lockout = False
      self.acc_type = 1
  
    def update(self, cp, cp_cam):
 
</s> remove     if abs(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]) > 1e-3:
 </s> add     if abs(torque_sensor_angle_deg) > 1e-3: </s> remove     self.x = (1. - self.alpha) * self.x + self.alpha * x
 </s> add     if self.initialized:
      self.x = (1. - self.alpha) * self.x + self.alpha * x
    else:
      self.initialized = True
      self.x = x </s> remove   def __init__(self, x0, rc, dt):
 </s> add   def __init__(self, x0, rc, dt, initialized=True):
    self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
      # the signal is zeroed to where the steering angle is at start.
      # Need to apply an offset as soon as the steering angle measurements are both received
      self.needs_angle_offset = True
      self.accurate_steer_angle_seen = False
    self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False)
  
      self.low_speed_lockout = False
      self.acc_type = 1
  
    def update(self, cp, cp_cam):
keep keep keep keep replace keep keep keep keep keep
 Continuously update offset between TSS2 angle sensors (#21943)

* Continuously update offset between TSS2 angle sensors

* add comment

* less lines

* only when initialized

* init to None

* update ref 
selfdrive/car/toyota/carstate.py