diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 84dd040eb5..da927287ad 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -213,7 +213,7 @@ class LongitudinalPlanner:
     longitudinalPlan.speedLimit = float(self.speed_limit_controller.speed_limit)
     longitudinalPlan.speedLimitOffset = float(self.speed_limit_controller.speed_limit_offset)
     longitudinalPlan.distToSpeedLimit = float(self.speed_limit_controller.distance)
-    longitudinalPlan.isMapSpeedLimit = bool(self.speed_limit_controller.source == SpeedLimitResolver.Source.map_data)
+    longitudinalPlan.isMapSpeedLimit = bool(self.speed_limit_controller.source not in (SpeedLimitResolver.Source.none, SpeedLimitResolver.Source.nav))
     longitudinalPlan.eventsDEPRECATED = self.events.to_msg()
 
     longitudinalPlan.turnSpeedControlState = self.turn_speed_controller.state
diff --git a/selfdrive/ui/qt/offroad/sunnypilot_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot_settings.cc
index 847aab4eab..0f12427573 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot_settings.cc
+++ b/selfdrive/ui/qt/offroad/sunnypilot_settings.cc
@@ -296,8 +296,6 @@ SPControlsPanel::SPControlsPanel(QWidget *parent) : ListWidget(parent) {
   friction = new TorqueFriction();
   // Controls: Torque - LAT_ACCEL_FACTOR
   lat_accel_factor = new TorqueMaxLatAccel();
-  // Controls: MUTCD: US/Canada\nVienna: Europe/Asia/etc.
-  speed_limit_style = new SpeedLimitStyle();
 
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
@@ -334,11 +332,6 @@ SPControlsPanel::SPControlsPanel(QWidget *parent) : ListWidget(parent) {
       addItem(lat_accel_factor);
     }
 
-    if (param == "SpeedLimitControl") {
-      // Controls: MUTCD: US/Canada\nVienna: Europe/Asia/etc.
-      addItem(speed_limit_style);
-    }
-
     if (param == "SpeedLimitPercOffset") {
       // Controls: Speed Limit Offset Type
       addItem(slo_type);
@@ -480,7 +473,6 @@ void SPControlsPanel::updateToggles() {
   }
 
   // toggle names to update when SpeedLimitControl is flipped
-  speed_limit_style->setVisible(params.getBool("SpeedLimitControl"));
   toggles["SpeedLimitPercOffset"]->setVisible(params.getBool("SpeedLimitControl"));
 
   auto cp_bytes = params.get("CarParamsPersistent");
@@ -1460,77 +1452,6 @@ void TorqueMaxLatAccel::refresh() {
   btnplus.setText("+");
 }
 
-SpeedLimitStyle::SpeedLimitStyle() : AbstractControl(
-  tr("Speed Limit Style"),
-  QString("%1<br>"
-          "%2")
-  .arg(tr("MUTCD: US/Canada"))
-  .arg(tr("Vienna: Europe/Asia/etc.")),
-  "../assets/offroad/icon_blank.png")
-
-{
-  label.setAlignment(Qt::AlignVCenter|Qt::AlignRight);
-  label.setStyleSheet("color: #e0e879");
-  hlayout->addWidget(&label);
-
-  btnminus.setStyleSheet(R"(
-    padding: 0;
-    border-radius: 50px;
-    font-size: 50px;
-    font-weight: 500;
-    color: #E4E4E4;
-    background-color: #393939;
-  )");
-  btnplus.setStyleSheet(R"(
-    padding: 0;
-    border-radius: 50px;
-    font-size: 50px;
-    font-weight: 500;
-    color: #E4E4E4;
-    background-color: #393939;
-  )");
-  btnminus.setFixedSize(150, 100);
-  btnplus.setFixedSize(150, 100);
-  hlayout->addWidget(&btnminus);
-  hlayout->addWidget(&btnplus);
-
-  QObject::connect(&btnminus, &QPushButton::clicked, [=]() {
-    auto str = QString::fromStdString(params.get("SpeedLimitStyle"));
-    int value = str.toInt();
-    value = value - 1;
-    if (value <= 0 ) {
-      value = 0;
-    }
-    QString values = QString::number(value);
-    params.put("SpeedLimitStyle", values.toStdString());
-    refresh();
-  });
-
-  QObject::connect(&btnplus, &QPushButton::clicked, [=]() {
-    auto str = QString::fromStdString(params.get("SpeedLimitStyle"));
-    int value = str.toInt();
-    value = value + 1;
-    if (value >= 1 ) {
-      value = 1;
-    }
-    QString values = QString::number(value);
-    params.put("SpeedLimitStyle", values.toStdString());
-    refresh();
-  });
-  refresh();
-}
-
-void SpeedLimitStyle::refresh() {
-  QString option = QString::fromStdString(params.get("SpeedLimitStyle"));
-  if (option == "0") {
-    label.setText(tr("MUTCD"));
-  } else {
-    label.setText(tr("Vienna"));
-  }
-  btnminus.setText("-");
-  btnplus.setText("+");
-}
-
 // Speed Limit Control Custom Offset Type
 SpeedLimitOffsetType::SpeedLimitOffsetType() : AbstractControl(
   tr("Speed Limit Offset Type"),
diff --git a/selfdrive/ui/qt/offroad/sunnypilot_settings.h b/selfdrive/ui/qt/offroad/sunnypilot_settings.h
index 6ab38b9a35..0623e596ae 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot_settings.h
+++ b/selfdrive/ui/qt/offroad/sunnypilot_settings.h
@@ -197,21 +197,6 @@ private:
   void refresh();
 };
 
-class SpeedLimitStyle : public AbstractControl {
-  Q_OBJECT
-
-public:
-  SpeedLimitStyle();
-
-private:
-  QPushButton btnplus;
-  QPushButton btnminus;
-  QLabel label;
-  Params params;
-
-  void refresh();
-};
-
 class DevUiInfo : public AbstractControl {
   Q_OBJECT
 
@@ -332,7 +317,6 @@ private:
   GapAdjustCruiseMode *gac_mode;
   TorqueFriction *friction;
   TorqueMaxLatAccel *lat_accel_factor;
-  SpeedLimitStyle *speed_limit_style;
 };
 
 class SPVehiclesPanel : public QWidget {
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 7a14aac0fe..8447c6e3ca 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -569,7 +569,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     setProperty("slcActive", !sl_inactive && !sl_temp_inactive);
     setProperty("overSpeedLimit", (((speed_limit_slc + speed_limit_offset) < cur_speed) && !sl_inactive && !sl_temp_inactive) ||
                                   ((speed_limit_slc < cur_speed) && (speed_limit_slc > 0.0) && (sl_inactive || sl_temp_inactive)));
-    setProperty("speedLimitStyle", s.scene.speed_limit_style);
 
     const float tsc_speed = lp.getTurnSpeed() * (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
     const auto tscState = lp.getTurnSpeedControlState();
@@ -672,6 +671,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   QString speedLimitStrSlc = showSpeedLimit ? QString::number(std::nearbyint(speedLimitSLC)) : "–";
   QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
+  const bool isNavSpeedLimit = has_us_speed_limit || has_eu_speed_limit;
 
   // Draw outer box + border to contain set speed and speed limit
   const int sign_margin = 12;
@@ -681,16 +681,14 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   const QSize default_size = {172, 204};
   QSize set_speed_size = default_size;
   if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
-  if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
-  if (((!roadName.isEmpty() || showSpeedLimit) && speedLimitStyle == 1) || is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
-  if (((!roadName.isEmpty() || showSpeedLimit) && speedLimitStyle == 0 && speedLimitStrSlc.size() >= 3) ||
-           (has_us_speed_limit && speedLimitStr.size() >= 3)) set_speed_size.rwidth() = 223;
+  if ((mapSourcedSpeedLimit && !is_metric && speedLimitStrSlc.size() >= 3) ||
+      (has_us_speed_limit && speedLimitStr.size() >= 3)) set_speed_size.rwidth() = 223;
 
-  if (((!roadName.isEmpty() || showSpeedLimit) && speedLimitStyle == 0) || has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
-  else if (((!roadName.isEmpty() || showSpeedLimit) && speedLimitStyle == 1) || has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
+  if ((mapSourcedSpeedLimit && !is_metric) || has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
+  else if ((mapSourcedSpeedLimit && is_metric) || has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
 
   int top_radius = 32;
-  int bottom_radius = (((!roadName.isEmpty() || showSpeedLimit) && speedLimitStyle == 1) || has_eu_speed_limit) ? 100 : 32;
+  int bottom_radius = ((mapSourcedSpeedLimit && is_metric) || has_eu_speed_limit) ? 100 : 32;
 
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
   p.setPen(QPen(whiteColor(75), 6));
@@ -731,7 +729,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
 
   const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
   // US/Canada (MUTCD style) sign
-  if (((!roadName.isEmpty() || showSpeedLimit) && speedLimitStyle == 0) || has_us_speed_limit) {
+  if ((mapSourcedSpeedLimit && !is_metric && !isNavSpeedLimit) || has_us_speed_limit) {
     p.setPen(Qt::NoPen);
     p.setBrush(whiteColor());
     p.drawRoundedRect(sign_rect, 24, 24);
@@ -753,7 +751,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   }
 
   // EU (Vienna style) sign
-  if (((!roadName.isEmpty() || showSpeedLimit) && speedLimitStyle == 1) || has_eu_speed_limit) {
+  if ((mapSourcedSpeedLimit && is_metric && !isNavSpeedLimit) || has_eu_speed_limit) {
     p.setPen(Qt::NoPen);
     p.setBrush(whiteColor());
     p.drawEllipse(sign_rect);
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 91975c9697..2edeca94f8 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -110,7 +110,6 @@ class AnnotatedCameraWidget : public CameraWidget {
   Q_PROPERTY(bool overSpeedLimit MEMBER overSpeedLimit);
   Q_PROPERTY(bool mapSourcedSpeedLimit MEMBER mapSourcedSpeedLimit);
   Q_PROPERTY(bool slcActive MEMBER slcActive);
-  Q_PROPERTY(int speedLimitStyle MEMBER speedLimitStyle);
 
   Q_PROPERTY(bool showTurnSpeedLimit MEMBER showTurnSpeedLimit);
   Q_PROPERTY(QString turnSpeedLimit MEMBER turnSpeedLimit);
@@ -259,7 +258,6 @@ private:
   QString tscSubText;
   bool tscActive = false;
   int curveSign = 0;
-  int speedLimitStyle;
 
   bool hideVEgoUi;
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 0018869ef4..fb230d0aaf 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -243,7 +243,6 @@ void ui_update_params(UIState *s) {
   s->scene.speed_limit_perc_offset = params.getBool("SpeedLimitPercOffset");
   s->scene.show_debug_ui = params.getBool("ShowDebugUI");
   s->scene.debug_snapshot_enabled = params.getBool("EnableDebugSnapshot");
-  s->scene.speed_limit_style = std::atoi(params.get("SpeedLimitStyle").c_str());
   s->scene.hide_vego_ui = params.getBool("HideVEgoUi");
   s->scene.true_vego_ui = params.getBool("TrueVEgoUi");
   s->scene.chevron_data = std::atoi(params.get("ChevronInfo").c_str());
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 07edbb0c6b..be364f8853 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -143,7 +143,6 @@ typedef struct UIScene {
   bool speed_limit_control_enabled;
   bool speed_limit_perc_offset;
   double last_speed_limit_sign_tap;
-  int speed_limit_style;
 
   // modelV2
   float lane_line_probs[4];