      steers_des = VM.get_steer_from_curvature(-curvature, CS.vEgo)
      steers_des += math.radians(params.angleOffsetDeg)
      if CS.vEgo < 0.3 or not active:
        indi_log.active = False
        self.output_steer = 0.0
        self.steer_filter.x = 0.0
      else:
 
</s> remove 
      rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo)

 </s> add  </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
    indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)

    rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo)
    indi_log.steeringRateDesiredDeg = math.degrees(rate_des)

      steers_des = VM.get_steer_from_curvature(-curvature, CS.vEgo)
      steers_des += math.radians(params.angleOffsetDeg)
    indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)

    rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo)
    indi_log.steeringRateDesiredDeg = math.degrees(rate_des)

      if CS.vEgo < 0.3 or not active:
        indi_log.active = False
        self.output_steer = 0.0
        self.steer_filter.x = 0.0
      else:
keep add keep keep keep keep keep
 add desired angle to log (#23115)

* add desired angle to log

* update ref

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