diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index b4084fe5b..77dbebcf9 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -55,12 +55,15 @@ class VehicleParamsLearner:
     self.total_offset_valid = True
     self.roll_valid = True
 
+    self.manual_steer_offset = float(params.get("AngleOffsetDegree") or 0.0)
+
     self.reset(None)
 
   def reset(self, t: float | None):
     self.kf.init_state(self.x_initial, covs=self.P_initial, filter_time=t)
 
     self.angle_offset, self.roll, self.active = np.degrees(self.x_initial[States.ANGLE_OFFSET].item()), 0.0, False
+    self.angle_offset = self.angle_offset + self.manual_steer_offset
     self.avg_angle_offset = self.angle_offset
 
   def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):