Clarification from the official errata document:
If Danger Sense is being used to avoid Surprise (like in an ambush), the adept makes an Initiative test as normal, they do not use the Danger Sense result as their Initiative. Even if they do not end up acting before the ambushing attackers, the adept does not suffer the penalties associated with Surprise and may use defensive talents like Avoid Blow.
House rule:
Danger Sense does not suffer the -3 penalty for being Defensive.
To fix this on your Roll20 character sheet, go to the Talents tab, find Danger Sense, and select 'Defensive' under Modifiers.