diff --git a/common/params.cc b/common/params.cc
index eeb1b1d48..1fca19106 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -359,6 +359,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RoadEdgesWidth", PERSISTENT},
     {"RoadName", PERSISTENT},
     {"RoadNameUI", PERSISTENT},
+    {"RotatingWheel", PERSISTENT},
     {"SchedulePending", PERSISTENT},
     {"SearchInput", PERSISTENT},
     {"ShowCPU", PERSISTENT},
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_rotate.png b/selfdrive/frogpilot/assets/toggle_icons/icon_rotate.png
new file mode 100644
index 000000000..1503308e5
Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_rotate.png differ
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 783806b0e..d4b121570 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -18,15 +18,19 @@
 #include "selfdrive/ui/qt/maps/map_panel.h"
 #endif
 
-static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
+static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity, const int angle = 0) {
   p.setRenderHint(QPainter::Antialiasing);
   p.setOpacity(1.0);  // bg dictates opacity of ellipse
   p.setPen(Qt::NoPen);
   p.setBrush(bg);
   p.drawEllipse(center, btn_size / 2, btn_size / 2);
+  p.save();
+  p.translate(center);
+  p.rotate(-angle);
   p.setOpacity(opacity);
-  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
+  p.drawPixmap(-QPoint(img.width() / 2, img.height() / 2), img);
   p.setOpacity(1.0);
+  p.restore();
 }
 
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
@@ -394,14 +398,23 @@ void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
   }
 
   // FrogPilot variables
+  rotatingWheel = scene.rotating_wheel;
+
   y_offset = leadInfo ? 10 : 0;
+
+  if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
+    update();
+    steeringAngleDeg = scene.steering_angle_deg;
+  } else if (!rotatingWheel) {
+    steeringAngleDeg = 0;
+  }
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   QPixmap img = experimental_mode ? experimental_img : engage_img;
   if (!(scene.map_open && scene.big_map)) {
-    drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+    drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0, steeringAngleDeg);
   }
 }
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index bc971864a..95f3dde23 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -104,6 +104,9 @@ private:
   Params paramsMemory{"/dev/shm/params"};
   UIScene &scene;
 
+  bool rotatingWheel;
+
+  int steeringAngleDeg;
   int y_offset;
 };
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 4b749d9c9..f9acfbfa8 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -234,6 +234,7 @@ static void update_state(UIState *s) {
     scene.blind_spot_right = carState.getRightBlindspot();
     scene.reverse = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
     scene.standstill = carState.getStandstill();
+    scene.steering_angle_deg = carState.getSteeringAngleDeg();
     scene.turn_signal_left = carState.getLeftBlinker();
     scene.turn_signal_right = carState.getRightBlinker();
   }
@@ -325,6 +326,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.lead_info = scene.longitudinal_control && custom_onroad_ui && params.getBool("LeadInfo");
   scene.pedals_on_ui = custom_onroad_ui && params.getBool("PedalsOnUI");
   scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI");
+  scene.rotating_wheel = custom_onroad_ui && params.getBool("RotatingWheel");
   scene.show_jerk = scene.longitudinal_control && developer_ui && params.getBool("ShowJerk");
   scene.show_tuning = scene.has_auto_tune && developer_ui && !(params.getBool("LateralTune") && params.getBool("NNFF")) && params.getBool("ShowTuning");
   scene.use_si = (scene.lead_info || developer_ui) && params.getBool("UseSI");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 88bfbc92e..a1f792ae6 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -214,6 +214,7 @@ typedef struct UIScene {
   bool reverse_cruise_ui;
   bool right_hand_drive;
   bool road_name_ui;
+  bool rotating_wheel;
   bool show_aol_status_bar;
   bool show_cem_status_bar;
   bool show_jerk;
@@ -256,6 +257,7 @@ typedef struct UIScene {
   int driver_camera_timer;
   int obstacle_distance;
   int obstacle_distance_stock;
+  int steering_angle_deg;
   int stopped_equivalence;
 
   QPolygonF track_adjacent_vertices[6];