        indi_log.active = False
        self.output_steer = 0.0
        self.steer_filter.x = 0.0
      else:
  
        rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo)
  
        # Expected actuator value
        self.steer_filter.update_alpha(self.RC)
        self.steer_filter.update(self.output_steer)
  
        # Compute acceleration error
 
</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.active = False
        self.output_steer = 0.0
        self.steer_filter.x = 0.0
      else:



        # Expected actuator value
        self.steer_filter.update_alpha(self.RC)
        self.steer_filter.update(self.output_steer)
  
        # Compute acceleration error
keep keep keep keep replace replace replace 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