        angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo))
        angle_steers_des += params.angleOffsetDeg
  
      angle_log.saturated = False
      angle_log.steeringAngleDeg = angle_steers_des
      return 0, float(angle_steers_des), angle_log
 
</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 
    angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    angle_log.steeringAngleDesiredDeg = angle_steers_des 

        angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo))
        angle_steers_des += params.angleOffsetDeg
  
      angle_log.saturated = False
    angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    angle_log.steeringAngleDesiredDeg = angle_steers_des 

      return 0, float(angle_steers_des), angle_log
keep keep keep keep replace keep
 add desired angle to log (#23115)

* add desired angle to log

* update ref

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