From 5acc040a89c969ed08b30fee7e36b2e145dd817a Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sat, 20 Sep 2025 11:24:24 -0400
Subject: [PATCH] overhead

---
 selfdrive/ui/qt/onroad/model.cc                       | 11 ++++++++---
 .../sunnypilot/qt/offroad/settings/visuals_panel.cc   |  4 ++--
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 79e002b92b..707c7c948a 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -494,9 +494,14 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
 
 // Projects a point in car to space to the corresponding point in full frame image space.
 bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
-  Eigen::Vector3f input(in_x, in_y, in_z);
-  auto pt = car_space_transform * input;
-  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  if (QString::fromStdString(Params().get("VisualStyle")).toInt() == 3) {
+    constexpr float scale = 20.0f;  // meters → pixels, tweak to zoom
+    *out = QPointF(clip_region.center().x() + in_y * scale, clip_region.bottom() - in_x * scale);
+  } else {
+    Eigen::Vector3f input(in_x, in_y, in_z);
+    auto pt = car_space_transform * input;
+    *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  }
   return clip_region.contains(*out);
 }
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
index 73c21b7000..6cf9859a91 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -89,12 +89,12 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
   list->addItem(dev_ui_settings);
 
   // Visuals: Visual Style
-  std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision")};
+  std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision"), tr("Overhead")};
   visual_style_settings = new ButtonParamControlSP(
     "VisualStyle", tr("Visual Style"), tr("Controls how the road and driving environment are displayed in the onroad UI."),
     "",
     visual_style_settings_texts,
-    380);
+    250);
   list->addItem(visual_style_settings);
 
   sunnypilotScroller = new ScrollViewSP(list, this);