  
      check_saturation = (CS.vEgo > 10) and not CS.steeringRateLimited and not CS.steeringPressed
      saturated = self._check_saturation(output_steer, check_saturation, steers_max)
  
      lqr_log.steeringAngleDeg = angle_steers_k + params.angleOffsetAverageDeg
      lqr_log.i = self.i_lqr
      lqr_log.output = output_steer
      lqr_log.lqrOutput = lqr_output
      lqr_log.saturated = saturated
      return output_steer, desired_angle, lqr_log
 
</s> remove     angle_log.steeringAngleDeg = angle_steers_des
 </s> add     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    angle_log.steeringAngleDesiredDeg = angle_steers_des 
 </s> remove 
      rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo)

 </s> add 
    lqr_log.steeringAngleDeg = angle_steers_k
  
      check_saturation = (CS.vEgo > 10) and not CS.steeringRateLimited and not CS.steeringPressed
      saturated = self._check_saturation(output_steer, check_saturation, steers_max)
  
    lqr_log.steeringAngleDeg = angle_steers_k
      lqr_log.i = self.i_lqr
      lqr_log.output = output_steer
      lqr_log.lqrOutput = lqr_output
      lqr_log.saturated = saturated
      return output_steer, desired_angle, lqr_log
keep keep keep keep 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_lqr.py