FrogPilot features - Add back navigate on openpilot

cereal/log.capnp

@@ -921,8 +921,8 @@ struct ModelDataV2 {
   # Model perceived motion
   temporalPose @21 :Pose;
 
-  navEnabledDEPRECATED @22 :Bool;
-  locationMonoTimeDEPRECATED @24 :UInt64;
+  navEnabled @22 :Bool;
+  locationMonoTime @24 :UInt64;
 
   # e2e lateral planner
   lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
@@ -2377,6 +2377,6 @@ struct Event {
     driverStateDEPRECATED @59 :DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
-    navModelDEPRECATED @104 :NavModelData;
+    navModel @104 :NavModelData;
   }
 }

cereal/services.py

@@ -66,6 +66,8 @@ _services: dict[str, tuple] = {
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
+  "navModel": (True, 2., 4.),
+  "mapRenderState": (True, 2., 1.),
   "uiPlan": (True, 20., 40.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),