Use steeringAngleDeg for angle control saturation warnings (#25404)

* use steeringAngleDeg for angle control cars

* update refs
old-commit-hash: 24645c92da

selfdrive/controls/controlsd.py

@@ -626,8 +626,13 @@ class Controls:
       if len(dpath_points):
         # Check if we deviated from the path
         # TODO use desired vs actual curvature
-        left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20
+        if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20
+          steering_value = actuators.steeringAngleDeg
+        else:
+          steering_value = actuators.steer
+
+        left_deviation = steering_value > 0 and dpath_points[0] < -0.20
+        right_deviation = steering_value < 0 and dpath_points[0] > 0.20
 
         if left_deviation or right_deviation:
           self.events.add(EventName.steerSaturated)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-461333164e531e3ffdac05b63b529aa5dce1186f
+3c89454df9cf2f25a5759d523a8c595e69865505