diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
index d02efc0a8..09ab5417e 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -132,10 +132,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
 
         if (isVisible && spacingItem) {
           main_layout->removeItem(spacingItem);
-          delete spacingItem;
-          spacingItem = nullptr;
-        } else if (!isVisible && spacingItem == nullptr) {
-          spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+        } else if (!isVisible && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
           main_layout->insertItem(main_layout->indexOf(description), spacingItem);
         }
       }
@@ -145,8 +142,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
   }
 
   main_layout->addLayout(hlayout);
-  if (!desc.isEmpty() && spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+  if (!desc.isEmpty() && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
     main_layout->insertItem(main_layout->count(), spacingItem);
   }
 
@@ -166,8 +162,7 @@ void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
     description->hide();
   }
 
-  if (spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+  if (spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
     main_layout->insertItem(main_layout->indexOf(description), spacingItem);
   }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index f46031088..bb3cec88f 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -96,11 +96,10 @@ class AbstractControlSP_SELECTOR : public AbstractControlSP {
   Q_OBJECT
 
 protected:
+  QSpacerItem *spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
   AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
   void hideEvent(QHideEvent *e) override;
 
-private:
-  QSpacerItem *spacingItem = nullptr;
 };
 
 // widget to display a value
@@ -417,14 +416,29 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
 private:
+  bool isInlineLayout;
+  QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
+  
   struct MinMaxValue {
     int min_value;
     int max_value;
   };
+  
+  int getParamValue() {
+    const auto param_value = QString::fromStdString(params.get(key));
+    const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
+    return result.toInt();
+  }
+
+  // Although the method is not static, and thus has access to the value property, I prefer to be explicit about the value.
+  void setParamValue(const int new_value) {
+    const auto value_str = valueMap != nullptr ? valueMap->value(QString::number(new_value)) : QString::number(new_value);
+    params.put(key, value_str.toStdString());
+  }
 
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1) : _title(title), AbstractControlSP_SELECTOR(title, desc, icon) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -444,14 +458,27 @@ public:
       }
     )";
 
+    if (inline_layout) {
+      optionSelectorLayout->setMargin(0);
+      optionSelectorLayout->setSpacing(0);
+      if (!title.isEmpty()) {
+        main_layout->removeWidget(title_label);
+        hlayout->addWidget(title_label, 1);
+      }
+      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
+        main_layout->removeItem(spacingItem);
+        spacingItem = nullptr;
+      }
+    }
+
     label.setStyleSheet(label_enabled_style);
-    label.setFixedWidth(300);
+    label.setFixedWidth(inline_layout ? 350 : 300);
     label.setAlignment(Qt::AlignCenter);
 
     const std::vector<QString> button_texts{"－", "＋"};
 
     key = param.toStdString();
-    value = atoi(params.get(key).c_str());
+    value = getParamValue();
 
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
@@ -459,19 +486,18 @@ public:
       QPushButton *button = new QPushButton(button_texts[i], this);
       button->setStyleSheet(style + ((i == 0) ? "QPushButton { text-align: left; }" :
                                                 "QPushButton { text-align: right; }"));
-      hlayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
+      optionSelectorLayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
       if (i == 0) {
-        hlayout->addWidget(&label, 0, Qt::AlignCenter);
+        optionSelectorLayout->addWidget(&label, 0, Qt::AlignCenter);
       }
       button_group->addButton(button, i);
 
       QObject::connect(button, &QPushButton::clicked, [=]() {
         int change_value = (i == 0) ? -per_value_change : per_value_change;
-        key = param.toStdString();
-        value = atoi(params.get(key).c_str());
+        value = getParamValue(); // in case it changed externally, we need to get the latest value.
         value += change_value;
         value = std::clamp(value, range.min_value, range.max_value);
-        params.put(key, QString::number(value).toStdString());
+        setParamValue(value);
 
         button_group->button(0)->setEnabled(!(value <= range.min_value));
         button_group->button(1)->setEnabled(!(value >= range.max_value));
@@ -484,7 +510,13 @@ public:
       });
     }
 
-    hlayout->setAlignment(Qt::AlignLeft);
+    optionSelectorLayout->setAlignment(Qt::AlignLeft);
+    if (isInlineLayout) {
+      QFrame *container = new QFrame;
+      container->setLayout(optionSelectorLayout);
+      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
+      hlayout->addWidget(container);
+    }
   }
 
   void setUpdateOtherToggles(bool _update) {
@@ -506,6 +538,10 @@ public:
 
 protected:
   void paintEvent(QPaintEvent *event) override {
+    if (isInlineLayout) {
+      return;
+    }
+
     QPainter p(this);
     p.setRenderHint(QPainter::Antialiasing);
 
@@ -513,8 +549,8 @@ protected:
     int w = 0;
     int h = 150;
 
-    for (int i = 0; i < hlayout->count(); ++i) {
-      QWidget *widget = qobject_cast<QWidget *>(hlayout->itemAt(i)->widget());
+    for (int i = 0; i < optionSelectorLayout->count(); ++i) {
+      QWidget *widget = qobject_cast<QWidget *>(optionSelectorLayout->itemAt(i)->widget());
       if (widget) {
         w += widget->width();
       }
@@ -544,6 +580,7 @@ private:
   std::map<QString, QString> option_label = {};
   bool request_update = false;
   QString _title = "";
+  const QMap<QString, QString> *valueMap;
 
   const QString label_enabled_style = "font-size: 50px; font-weight: 450; color: #FFFFFF;";
   const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";