diff --git a/common/params.cc b/common/params.cc
index 181bd05b1..f64e305e8 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -407,6 +407,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WarningSoftVolume", PERSISTENT},
     {"WarningImmediateVolume", PERSISTENT},
     {"WheelIcon", PERSISTENT},
+    {"WheelSpeed", PERSISTENT},
 };
 
 } // namespace
diff --git a/selfdrive/frogpilot/ui/visual_settings.cc b/selfdrive/frogpilot/ui/visual_settings.cc
index e9e72eea1..2aae85dc4 100644
--- a/selfdrive/frogpilot/ui/visual_settings.cc
+++ b/selfdrive/frogpilot/ui/visual_settings.cc
@@ -52,6 +52,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"FullMap", "Full Sized Map", "Maximize the size of the map in the onroad UI.", ""},
     {"HideSpeed", "Hide Speed", "Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself.", ""},
     {"MapStyle", "Map Style", "Use a custom map style to be used for 'Navigate on openpilot'.", ""},
+    {"WheelSpeed", "Use Wheel Speed", "Use the wheel speed metric as opposed to the artificial speed.", ""},
 
     {"RandomEvents", "Random Events", "Enjoy a bit of unpredictability with random events that can occur during certain driving conditions.", "../frogpilot/assets/toggle_icons/icon_random.png"},
     {"ScreenBrightness", "Screen Brightness", "Customize your screen brightness.", "../frogpilot/assets/toggle_icons/icon_light.png"},
diff --git a/selfdrive/frogpilot/ui/visual_settings.h b/selfdrive/frogpilot/ui/visual_settings.h
index 1d6716b0a..1b9799bd3 100644
--- a/selfdrive/frogpilot/ui/visual_settings.h
+++ b/selfdrive/frogpilot/ui/visual_settings.h
@@ -35,7 +35,7 @@ private:
   std::set<QString> customOnroadUIKeys = {"AccelerationPath", "AdjacentPath", "BlindSpotPath", "FPSCounter", "LeadInfo", "PedalsOnUI", "RoadNameUI"};
   std::set<QString> customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
   std::set<QString> modelUIKeys = {"DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
-  std::set<QString> qolKeys = {"DriveStats", "FullMap", "HideSpeed", "MapStyle"};
+  std::set<QString> qolKeys = {"DriveStats", "FullMap", "HideSpeed", "MapStyle", "WheelSpeed"};
 
   std::map<std::string, ParamControl*> toggles;
 
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index c5e116b4a..2530ab6f3 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -527,7 +527,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
 
   // Handle older routes where vEgoCluster is not set
   v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
   speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 97bcd6ef4..60e29388e 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -361,6 +361,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.hide_speed = quality_of_life_visuals && params.getBool("HideSpeed");
   scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI");
   scene.map_style = quality_of_life_visuals ? params.getInt("MapStyle") : 0;
+  scene.wheel_speed = quality_of_life_visuals && params.getBool("WheelSpeed");
 
   scene.personalities_via_screen = params.getBool("PersonalitiesViaScreen") && params.getBool("AdjustablePersonalities");
   scene.random_events = params.getBool("RandomEvents");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 385686978..36dde6f64 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -221,6 +221,7 @@ typedef struct UIScene {
   bool unlimited_road_ui_length;
   bool use_si;
   bool use_vienna_slc_sign;
+  bool wheel_speed;
 
   float acceleration;
   float adjusted_cruise;