diff --git a/selfdrive/frogpilot/assets/wheel_images/frog.png b/selfdrive/frogpilot/assets/wheel_images/frog.png
new file mode 100644
index 000000000..712255984
Binary files /dev/null and b/selfdrive/frogpilot/assets/wheel_images/frog.png differ
diff --git a/selfdrive/frogpilot/assets/wheel_images/hyundai.png b/selfdrive/frogpilot/assets/wheel_images/hyundai.png
new file mode 100644
index 000000000..4a0371ccf
Binary files /dev/null and b/selfdrive/frogpilot/assets/wheel_images/hyundai.png differ
diff --git a/selfdrive/frogpilot/assets/wheel_images/lexus.png b/selfdrive/frogpilot/assets/wheel_images/lexus.png
new file mode 100644
index 000000000..aa9779fc7
Binary files /dev/null and b/selfdrive/frogpilot/assets/wheel_images/lexus.png differ
diff --git a/selfdrive/frogpilot/assets/wheel_images/rocket.png b/selfdrive/frogpilot/assets/wheel_images/rocket.png
new file mode 100644
index 000000000..b624d00b9
Binary files /dev/null and b/selfdrive/frogpilot/assets/wheel_images/rocket.png differ
diff --git a/selfdrive/frogpilot/assets/wheel_images/stalin.png b/selfdrive/frogpilot/assets/wheel_images/stalin.png
new file mode 100644
index 000000000..4c2e1e046
Binary files /dev/null and b/selfdrive/frogpilot/assets/wheel_images/stalin.png differ
diff --git a/selfdrive/frogpilot/assets/wheel_images/toyota.png b/selfdrive/frogpilot/assets/wheel_images/toyota.png
new file mode 100644
index 000000000..bc392ed13
Binary files /dev/null and b/selfdrive/frogpilot/assets/wheel_images/toyota.png differ
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 148eaee4b..719c6be0e 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -22,6 +22,16 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
   QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
+
+  wheelImages = {
+    {0, loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size})},
+    {1, loadPixmap("../frogpilot/assets/wheel_images/lexus.png", {img_size, img_size})},
+    {2, loadPixmap("../frogpilot/assets/wheel_images/toyota.png", {img_size, img_size})},
+    {3, loadPixmap("../frogpilot/assets/wheel_images/frog.png", {img_size, img_size})},
+    {4, loadPixmap("../frogpilot/assets/wheel_images/rocket.png", {img_size, img_size})},
+    {5, loadPixmap("../frogpilot/assets/wheel_images/hyundai.png", {img_size, img_size})},
+    {6, loadPixmap("../frogpilot/assets/wheel_images/stalin.png", {img_size, img_size})},
+  };
 }
 
 void ExperimentalButton::changeMode() {
@@ -49,13 +59,31 @@ void ExperimentalButton::updateState(const UIState &s) {
   // FrogPilot variables
   const UIScene &scene = s.scene;
 
+  alwaysOnLateralActive = scene.always_on_lateral_active;
   conditionalExperimental = scene.conditional_experimental;
   conditionalStatus = scene.conditional_status;
+  navigateOnOpenpilot = scene.navigate_on_openpilot;
+  trafficModeActive = scene.traffic_mode_active;
+  wheelIcon = scene.wheel_icon;
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
+  if (wheelIcon < 0) {
+    return;
+  }
+
   QPainter p(this);
-  QPixmap img = experimental_mode ? experimental_img : engage_img;
+  engage_img = wheelImages[wheelIcon];
+  QPixmap img = wheelIcon != 0 ? engage_img : (experimental_mode ? experimental_img : engage_img);
+
+  QColor background_color = wheelIcon != 0 && !isDown() && engageable ?
+    (alwaysOnLateralActive ? bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE] :
+    (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5 ? bg_colors[STATUS_CONDITIONAL_OVERRIDDEN] :
+    (experimental_mode ? bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE] :
+    (trafficModeActive ? bg_colors[STATUS_TRAFFIC_MODE_ACTIVE] :
+    (navigateOnOpenpilot ? bg_colors[STATUS_NAVIGATION_ACTIVE] : QColor(0, 0, 0, 166)))))) :
+    QColor(0, 0, 0, 166);
+
   drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
 }
 
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index 1b71fe492..ab183ff02 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -25,9 +25,15 @@ private:
   bool engageable;
 
   // FrogPilot variables
+  bool alwaysOnLateralActive;
   bool conditionalExperimental;
+  bool navigateOnOpenpilot;
+  bool trafficModeActive;
 
   int conditionalStatus;
+  int wheelIcon;
+
+  QMap<int, QPixmap> wheelImages;
 
   Params paramsMemory{"/dev/shm/params"};
 };
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 1590b3a0a..b57195807 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -321,6 +321,7 @@ void ui_update_frogpilot_params(UIState *s, Params &params) {
   scene.dynamic_pedals_on_ui = scene.pedals_on_ui && params.getBool("DynamicPedalsOnUI");
   scene.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI");
   scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI");
+  scene.wheel_icon = custom_onroad_ui ? params.getInt("WheelIcon") : 0;
 
   scene.disable_smoothing_mtsc = params.getBool("MTSCEnabled") && params.getBool("DisableMTSCSmoothing");
   scene.disable_smoothing_vtsc = params.getBool("VisionTurnControl") && params.getBool("DisableVTSCSmoothing");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 9c40991c4..5eba054d3 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -182,6 +182,7 @@ typedef struct UIScene {
   int conditional_speed_lead;
   int conditional_status;
   int tethering_config;
+  int wheel_icon;
 
   QPolygonF track_adjacent_vertices[6];