Update display_panel.cc

Squashed commit of the following:
commit 669f3b7945 Author: royjr <royjr96@gmail.com> Date: Fri Nov 7 21:51:35 2025 -0500 fix commit 63122e1a33 Merge: c9b1afb15 c1d3ae427 Author: royjr <royjr96@gmail.com> Date: Fri Nov 7 21:25:46 2025 -0500 Merge branch 'master' into visual-style commit c9b1afb154 Merge: 6e3bd3fbe 9b92cdd2c Author: royjr <royjr96@gmail.com> Date: Fri Oct 10 00:06:55 2025 -0400 Merge branch 'master' into visual-style commit 6e3bd3fbed Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:56:37 2025 -0400 explicit radius commit 42592dd550 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:54:34 2025 -0400 match what we currently send commit b2f7d72a33 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:53:07 2025 -0400 no need commit 2e0ce18c84 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:52:51 2025 -0400 group commit 2a9a4a9263 Merge: e63fb10fd d6317ffd2 Author: royjr <royjr96@gmail.com> Date: Thu Oct 9 23:51:18 2025 -0400 Merge branch 'master' into visual-style commit e63fb10fdb Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:35:23 2025 -0400 Revert "metric threshold" This reverts commit b54941928d. commit b54941928d Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:35:15 2025 -0400 metric threshold commit b85b8ffacf Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:28:10 2025 -0400 better VisualStyleOverheadThreshold commit 3ff2e9b26a Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:25:37 2025 -0400 reorder commit 4b3ffc722a Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:24:52 2025 -0400 show visual_radar_tracks_delay_settings on VisualRadarTracks commit 5f49066829 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:18:51 2025 -0400 more commit ab2eb218d5 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:16:06 2025 -0400 clean commit 6212b174e9 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 21:12:08 2025 -0400 descs commit a8a6e5708a Merge: 54b060f17 ae21d40a1 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:47:03 2025 -0400 Merge branch 'master' into visual-style commit 54b060f178 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:45:17 2025 -0400 move with commit 8266386cd0 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:44:06 2025 -0400 better commit 8bbe87ee22 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:40:23 2025 -0400 simple commit d35ac0c145 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:34:26 2025 -0400 a bit better commit a134ae1e29 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:25:55 2025 -0400 combine commit 6a69759b9e Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 20:24:51 2025 -0400 hide options based on options commit b9063e2966 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:55:40 2025 -0400 cleanup commit 4397a4387a Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:49:14 2025 -0400 mooooore fps commit 32dc384524 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:47:08 2025 -0400 not needed for now commit 68fa239b97 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:45:37 2025 -0400 unused commit c8367fbc25 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:44:45 2025 -0400 more fps remove commit 76fc4514e1 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:43:32 2025 -0400 reorder commit 073ce2b4df Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 19:35:37 2025 -0400 remove VisualFPS commit 5d516ba89f Merge: e819a0dcb 014baf8e9 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 12:26:38 2025 -0400 Merge branch 'master' into visual-style commit e819a0dcb1 Merge: ba4b583e6 8050c56a4 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 02:14:22 2025 -0400 Merge branch 'master' into visual-style commit ba4b583e6e Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:55:38 2025 -0400 fix visual_style_overhead_zoom commit 5954354356 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:48:06 2025 -0400 fix visual_style_overhead commit 23ff232333 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:40:10 2025 -0400 fix visual_style_overhead_settings commit 0bb47fcfa9 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:29:15 2025 -0400 fix visual_style_overhead_threshold_settings commit 99a5682371 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:09:08 2025 -0400 todo commit 22ca343050 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:07:53 2025 -0400 fix visual_style_overhead_threshold_settings commit 0049d20151 Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 01:05:17 2025 -0400 VisualStyleZoom fix commit b9f8f4e8ac Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 00:55:20 2025 -0400 visual style better commit 26564dd42f Author: royjr <royjr96@gmail.com> Date: Wed Oct 8 00:07:31 2025 -0400 better VisualWideCam commit ec440e4568 Merge: 69817f887 408d52d72 Author: royjr <royjr96@gmail.com> Date: Tue Oct 7 22:38:57 2025 -0400 Merge branch 'master' into visual-style commit 69817f887b Merge: df21208b7 0f4828df8 Author: royjr <royjr96@gmail.com> Date: Tue Sep 30 15:01:21 2025 -0400 Merge branch 'master' into visual-style commit df21208b7c Merge: 660c994c5 082ea8119 Author: royjr <royjr96@gmail.com> Date: Thu Sep 25 02:08:38 2025 -0400 Merge branch 'master' into visual-style commit 660c994c5e Author: royjr <royjr96@gmail.com> Date: Thu Sep 25 02:08:28 2025 -0400 visual_style_blend vs visual_style_overhead_blend commit 904cc796b0 Author: royjr <royjr96@gmail.com> Date: Thu Sep 25 01:44:06 2025 -0400 prevent jitter commit 1a9a1e1b8a Merge: 2ae7078c0 1465e38c7 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 23:00:46 2025 -0400 Merge branch 'master' into visual-style commit 2ae7078c0f Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 14:37:21 2025 -0400 use ParamWatcher commit 0fde830a30 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 10:35:46 2025 -0400 fix params commit 7c744a42e5 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 08:18:51 2025 -0400 safe font commit 90cc169dec Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 08:17:59 2025 -0400 VisualRadarTracksDelay commit 36c1e11a9e Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:47:16 2025 -0400 add FPS toggle commit 5e26a99337 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:40:59 2025 -0400 better fps commit 53683cf90b Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:25:00 2025 -0400 constant track size commit 95dcc23887 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 07:21:57 2025 -0400 better tracks for overhead commit cef3163c7c Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 06:54:46 2025 -0400 more more more cached params commit cbc34dd1f6 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 06:49:41 2025 -0400 more cached params commit fbd1f6bad1 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 06:42:14 2025 -0400 cached params commit f2ddf9abba Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 04:04:52 2025 -0400 debug ui lag commit 8a5eaf5ba6 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 03:35:06 2025 -0400 prepare for lag compensation commit ddb377ac5b Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 03:24:15 2025 -0400 radar lag compensate commit 512a01d28c Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 01:33:50 2025 -0400 VisualWideCam toggle (untested) commit b30e275169 Merge: ee9fe5c9e ecee67dd6 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 01:15:18 2025 -0400 Merge branch 'master' into visual-style commit ee9fe5c9ed Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 01:10:44 2025 -0400 VisualRadarTracks toggle commit e672a352d3 Author: royjr <royjr96@gmail.com> Date: Tue Sep 23 00:24:38 2025 -0400 bigger points commit 361d107040 Author: royjr <royjr96@gmail.com> Date: Mon Sep 22 23:55:55 2025 -0400 basic radar commit 36eb047cd3 Merge: 218c6172e d5a873ed8 Author: royjr <royjr96@gmail.com> Date: Mon Sep 22 00:10:31 2025 -0400 Merge branch 'master' into visual-style commit 218c6172e6 Author: royjr <royjr96@gmail.com> Date: Mon Sep 22 00:03:29 2025 -0400 darker fills commit 8f35e4fc3c Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 23:02:48 2025 -0400 Revert "smooooth" This reverts commit c965df39d6. commit c965df39d6 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 22:10:35 2025 -0400 smooooth commit 53ef69f3c3 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:55:23 2025 -0400 hide horizon if no data commit ea9ca18c8b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:49:01 2025 -0400 horizon at end commit 225858261e Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:34:14 2025 -0400 better horizon commit 43de43b34a Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 21:25:39 2025 -0400 better lines commit 96ddbe35a1 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:37:54 2025 -0400 dynamically adjust background commit 7d547ad533 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:30:13 2025 -0400 fix default commit 13de58b845 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:30:06 2025 -0400 add more speeds commit 3d8c563a4b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 15:19:57 2025 -0400 dynamic zoom commit bc75199d5a Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 14:34:38 2025 -0400 overhead commit ba6e18ed91 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 14:32:30 2025 -0400 only for vision commit 74dbcd699b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 14:31:58 2025 -0400 add road edges to vision commit 35c6af0190 Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 13:55:56 2025 -0400 theme commit 827de88c8b Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 13:03:37 2025 -0400 stump top down commit 54ca4b537d Author: royjr <royjr96@gmail.com> Date: Sun Sep 21 12:48:32 2025 -0400 VisualStyleBlendThreshold commit c61f327076 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 13:04:07 2025 -0400 allow always overhead view commit d569913e5a Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 12:57:17 2025 -0400 VisualStyleBlend commit 418c93be06 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 12:16:49 2025 -0400 animate overhead commit 5acc040a89 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 11:24:24 2025 -0400 overhead commit e45b17c230 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 03:00:00 2025 -0400 better commit b14b6246d7 Author: royjr <royjr96@gmail.com> Date: Sat Sep 20 00:31:07 2025 -0400 visual style init
2026-06-09 07:14:40 +08:00 · 2025-11-08 09:57:57 -08:00 · 2025-11-07 22:11:17 -05:00 · 2025-11-07 22:10:20 -05:00 · 2025-11-07 17:59:23 -08:00 · 2025-11-07 12:37:22 -08:00
130 changed files with 2037 additions and 70 deletions
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -21,11 +21,12 @@ env:
  PYTHONWARNINGS: error
  BASE_IMAGE: sunnypilot-base
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
+  MAPBOX_TOKEN_CI: ${{ secrets.MAPBOX_TOKEN_CI }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: release/ci/docker_build_sp.sh base

-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -e MAPBOX_TOKEN_CI=$MAPBOX_TOKEN_CI -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c

  PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical

--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -454,7 +454,20 @@ struct ModelDataV2SP @0xa1680744031fdb2d {
  }
 }

-struct CustomReserved10 @0xcb9fd56c7057593a {
+struct Navigationd @0xcb9fd56c7057593a {
+  upcomingTurn @0 :Text;
+  currentSpeedLimit @1 :UInt64;
+  bannerInstructions @2 :Text;
+  distanceFromRoute @3 :Float64;
+  allManeuvers @4 :List(Maneuver);
+  valid @5 :Bool;
+
+  struct Maneuver {
+    distance @0 :Float64;
+    type @1 :Text;
+    modifier @2 :Text;
+    instruction @3 :Text;
+  }
 }

 struct CustomReserved11 @0xc2243c65e0340384 {
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2632,7 +2632,7 @@ struct Event {
    carStateSP @114 :Custom.CarStateSP;
    liveMapDataSP @115 :Custom.LiveMapDataSP;
    modelDataV2SP @116 :Custom.ModelDataV2SP;
-    customReserved10 @136 :Custom.CustomReserved10;
+    navigationd @136 :Custom.Navigationd;
    customReserved11 @137 :Custom.CustomReserved11;
    customReserved12 @138 :Custom.CustomReserved12;
    customReserved13 @139 :Custom.CustomReserved13;
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -89,6 +89,7 @@ _services: dict[str, tuple] = {
  "carStateSP": (True, 100., 10),
  "liveMapDataSP": (True, 1., 1),
  "modelDataV2SP": (True, 20.),
+  "navigationd": (True, 3.),
  "liveLocationKalman": (True, 20.),

  # debug
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -172,6 +172,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualRadarTracksDelay", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"VisualWideCam", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyle", {PERSISTENT | BACKUP, INT, "0"}},
+    {"VisualStyleZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverhead", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadZoom", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"VisualStyleOverheadThreshold", {PERSISTENT | BACKUP, INT, "20"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -187,6 +195,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},

+    // Navigation params
+    {"AllowNavigation", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"MapboxToken", {PERSISTENT | BACKUP, STRING}},
+    {"MapboxSettings", {CLEAR_ON_MANAGER_START, JSON}},
+    {"MapboxRoute", {PERSISTENT, STRING}},
+    {"MapboxRecompute", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"NavDesiresAllowed", {PERSISTENT | BACKUP, BOOL, "0"}},
+
    // Neural Network Lateral Control
    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},

--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -3,6 +3,7 @@ from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
+from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires

 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -51,6 +52,7 @@ class DesireHelper:
    self.alc = AutoLaneChangeController(self)
    self.lane_turn_controller = LaneTurnController(self)
    self.lane_turn_direction = TurnDirection.none
+    self.navigation_desires = NavigationDesires()

  @staticmethod
  def get_lane_change_direction(CS):
@@ -143,3 +145,7 @@ class DesireHelper:
        self.desire = log.Desire.none

    self.alc.update_state()
+
+    nav_desire = self.navigation_desires.update(carstate, lateral_active)
+    if nav_desire != log.Desire.none and (self.desire == log.Desire.none or self.desire in (log.Desire.turnLeft, log.Desire.turnRight)):
+      self.desire = nav_desire
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -88,7 +88,7 @@ class SelfdriveD(CruiseHelper):
    # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
    self.car_state_sock = messaging.sub_sock('carState', timeout=20)

-    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP']
+    ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] + ['modelDataV2SP'] + ['navigationd']
    if SIMULATION:
      ignore += ['driverCameraState', 'managerState']
    if REPLAY:
@@ -98,8 +98,8 @@ class SelfdriveD(CruiseHelper):
                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
-                                   'modelDataV2SP', 'longitudinalPlanSP'] + \
-                                   self.camera_packets + self.sensor_packets + self.gps_packets,
+                                   'modelDataV2SP', 'longitudinalPlanSP', 'navigationd'] + \
+                                  self.camera_packets + self.sensor_packets + self.gps_packets,
                                  ignore_alive=ignore, ignore_avg_freq=ignore,
                                  ignore_valid=ignore, frequency=int(1/DT_CTRL))

@@ -293,7 +293,7 @@ class SelfdriveD(CruiseHelper):
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
      direction = self.sm['modelV2'].meta.laneChangeDirection
      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+        (CS.rightBlindspot and direction == LaneChangeDirection.right):
        self.events.add(EventName.laneChangeBlocked)
      else:
        if direction == LaneChangeDirection.left:
@@ -301,7 +301,7 @@ class SelfdriveD(CruiseHelper):
        else:
          self.events.add(EventName.preLaneChangeRight)
    elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
-                                                    LaneChangeState.laneChangeFinishing):
+                                                     LaneChangeState.laneChangeFinishing):
      self.events.add(EventName.laneChange)

    # Handle lane turn
@@ -496,7 +496,7 @@ class SelfdriveD(CruiseHelper):

    # All pandas not in silent mode must have controlsAllowed when openpilot is enabled
    if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
-           if ps.safetyModel not in IGNORED_SAFETY_MODES):
+                            if ps.safetyModel not in IGNORED_SAFETY_MODES):
      self.mismatch_counter += 1

    return CS
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -25,6 +25,11 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
  // update engageability/experimental mode button
  experimental_btn->updateState(s);
  dmon.updateState(s);
+  if (s.scene.visual_style == 0) {
+    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  } else {
+    setBackgroundColor(QColor(0, 0, 0));
+  }
 }

 void AnnotatedCameraWidget::initializeGL() {
@@ -35,7 +40,12 @@ void AnnotatedCameraWidget::initializeGL() {
  qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));

  prev_draw_t = millis_since_boot();
-  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  auto *s = uiState();
+  if (s->scene.visual_style == 0) {
+    setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
+  } else {
+    setBackgroundColor(QColor(0, 0, 0));
+  }
 }

 mat4 AnnotatedCameraWidget::calcFrameMatrix() {
@@ -118,7 +128,13 @@ void AnnotatedCameraWidget::paintGL() {
      } else if (v_ego > 15) {
        wide_cam_requested = false;
      }
-      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+      if (s->scene.visual_wide_cam == 1) {
+        wide_cam_requested = true;
+      } else if (s->scene.visual_wide_cam == 2) {
+        wide_cam_requested = false;
+      } else {
+        wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
+      }
    }
    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
    CameraWidget::setFrameId(sm["modelV2"].getModelV2().getFrameId());
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -1,4 +1,5 @@
 #include "selfdrive/ui/qt/onroad/model.h"
+#include <algorithm>

 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
  auto *s = uiState();
@@ -49,8 +50,14 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
 }

 void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  auto *s = uiState();
  const auto &model_position = model.getPosition();
-  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  float max_distance;
+  if (s->scene.visual_style == 0) {
+    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  } else {
+    max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  }

  // update lane lines
  const auto &lane_lines = model.getLaneLines();
@@ -58,7 +65,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
  for (int i = 0; i < std::size(lane_line_vertices); i++) {
    lane_line_probs[i] = line_probs[i];
-    mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    if (s->scene.visual_style == 2) {
+      mapLineToPolygon(lane_lines[i], 0.075 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    } else {
+      mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
+    }
  }

  // update road edges
@@ -66,7 +77,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
  const auto &edge_stds = model.getRoadEdgeStds();
  for (int i = 0; i < std::size(road_edge_vertices); i++) {
    road_edge_stds[i] = edge_stds[i];
-    mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+    if (s->scene.visual_style == 2) {
+      mapLineToPolygon(road_edges[i], 0.1, 0, &road_edge_vertices[i], max_idx);
+    } else {
+      mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
+    }
  }

  // update path
@@ -79,16 +94,112 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
 }

 void ModelRenderer::drawLaneLines(QPainter &painter) {
-  // lanelines
-  for (int i = 0; i < std::size(lane_line_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(lane_line_vertices[i]);
-  }
+  auto *s = uiState();
+  if (s->scene.visual_style == 2) {
+    QRectF r = clip_region;

-  // road edges
-  for (int i = 0; i < std::size(road_edge_vertices); ++i) {
-    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(road_edge_vertices[i]);
+    qreal horizonY = r.bottom();
+    if (!road_edge_vertices[0].isEmpty() || !road_edge_vertices[1].isEmpty()) {
+      qreal leftH  = r.top();
+      qreal rightH = r.top();
+
+      if (!road_edge_vertices[0].isEmpty()) {
+        leftH = std::numeric_limits<qreal>::max();
+        for (const QPointF &pt : road_edge_vertices[0]) {
+          if (pt.y() < leftH) leftH = pt.y();
+        }
+      }
+
+      if (!road_edge_vertices[1].isEmpty()) {
+        rightH = std::numeric_limits<qreal>::max();
+        for (const QPointF &pt : road_edge_vertices[1]) {
+          if (pt.y() < rightH) rightH = pt.y();
+        }
+      }
+
+      horizonY = std::max(leftH, rightH);
+    }
+
+    painter.fillRect(QRectF(r.left(), horizonY + 0, r.width(), r.bottom() - (horizonY + 0)), QColor("#111111"));
+
+    auto buildFill = [&](const QPolygonF &edgeRibbon, bool isLeftSide) -> QPolygonF {
+      if (edgeRibbon.isEmpty()) return {};
+
+      QMap<int, QPointF> byY;
+      for (const QPointF &pt : edgeRibbon) {
+        int yi = int(std::round(pt.y()));
+        if (!byY.contains(yi)) {
+          byY[yi] = pt;
+        } else {
+          if (isLeftSide) {
+            if (pt.x() > byY[yi].x()) byY[yi] = pt;
+          } else {
+            if (pt.x() < byY[yi].x()) byY[yi] = pt;
+          }
+        }
+      }
+      if (byY.isEmpty()) return {};
+
+      QPolygonF curve;
+      for (auto it = byY.cbegin(); it != byY.cend(); ++it) {
+        curve << it.value();
+      }
+      if (curve.size() < 2) return {};
+
+      const qreal topY = curve.first().y();
+      QPolygonF fill;
+      if (isLeftSide) {
+        fill << QPointF(r.left(), topY);
+        for (const QPointF &pt : curve) fill << pt;
+        fill << QPointF(r.left(), r.bottom());
+      } else {
+        fill << QPointF(r.right(), topY);
+        for (const QPointF &pt : curve) fill << pt;
+        fill << QPointF(r.right(), r.bottom());
+      }
+      return fill;
+    };
+
+    QPolygonF leftFill  = buildFill(road_edge_vertices[0], true);
+    QPolygonF rightFill = buildFill(road_edge_vertices[1], false);
+
+    if (!leftFill.isEmpty()) {
+      painter.setBrush(QColor("#222222"));
+      painter.drawPolygon(leftFill);
+    }
+    if (!rightFill.isEmpty()) {
+      painter.setBrush(QColor("#222222"));
+      painter.drawPolygon(rightFill);
+    }
+
+    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(0.902, 0.902, 0.902, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+      painter.drawPolygon(lane_line_vertices[i]);
+    }
+
+    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+      painter.setBrush(QColor(0x55, 0x55, 0x55, 255));
+      painter.drawPolygon(road_edge_vertices[i]);
+    }
+
+    QLinearGradient bgGrad(r.left(), horizonY - 100, r.left(), horizonY + 100);
+    bgGrad.setColorAt(0.0, QColor("#000000"));
+    bgGrad.setColorAt(0.5, QColor("#111111"));
+    bgGrad.setColorAt(1.0, QColor("#111111"));
+    painter.fillRect(QRectF(r.left(), horizonY - 200, r.width(), 200), bgGrad);
+
+  } else {
+    // lanelines
+    for (int i = 0; i < std::size(lane_line_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
+      painter.drawPolygon(lane_line_vertices[i]);
+    }
+
+    // road edges
+    for (int i = 0; i < std::size(road_edge_vertices); ++i) {
+      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
+      painter.drawPolygon(road_edge_vertices[i]);
+    }
  }
 }

@@ -175,6 +286,7 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float

 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                             const QPointF &vd, const QRect &surface_rect) {
+  auto *s = uiState();
  const float speedBuff = 10.;
  const float leadBuff = 40.;
  const float d_rel = lead_data.getDRel();
@@ -197,20 +309,133 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
  float g_yo = sz / 10;

  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
-  painter.setBrush(QColor(218, 202, 37, 255));
+  if (s->scene.visual_style == 2) {
+    painter.setBrush(QColor(0xE6, 0xE6, 0xE6, 255));
+  } else {
+    painter.setBrush(QColor(218, 202, 37, 255));
+  }
  painter.drawPolygon(glow, std::size(glow));

  // chevron
  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
-  painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  if (s->scene.visual_style == 2) {
+    painter.setBrush(QColor(0, 0, 0, fillAlpha));
+  } else {
+    painter.setBrush(QColor(201, 34, 49, fillAlpha));
+  }
  painter.drawPolygon(chevron, std::size(chevron));
 }

-// Projects a point in car to space to the corresponding point in full frame image space.
+float mapRange(float x, float in_min, float in_max, float out_min, float out_max) {
+  if (in_min < in_max) {
+    x = std::clamp(x, in_min, in_max);
+  } else {
+    x = std::clamp(x, in_max, in_min);
+  }
+  return out_min + (x - in_min) * (out_max - out_min) / (in_max - in_min);
+}
+
+// Projects a point in car space to the corresponding point in full frame image space.
 bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  float blend_speed_mph = fabsf(sm["carState"].getCarState().getVEgo() * 2.23694f);
+
  Eigen::Vector3f input(in_x, in_y, in_z);
+
+  if ((s->scene.visual_style_zoom == 1 || s->scene.visual_style_zoom == 2) && s->scene.visual_style != 0) {
+    float zoom_start = 20.0f;
+    float zoom_end   = 50.0f;
+
+    if (s->scene.visual_style_zoom == 2) {
+      std::swap(zoom_start, zoom_end);
+    }
+
+    float IN_X_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 24.0f);
+    float IN_Y_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 1.0f, 2.0f);
+    float IN_Z_OFFSET = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
+    float PITCH_DEG   = mapRange(blend_speed_mph, zoom_start, zoom_end, 0.0f, 5.0f);
+
+    input = Eigen::Vector3f(in_x + IN_X_OFFSET, in_y / IN_Y_OFFSET, in_z + IN_Z_OFFSET);
+    Eigen::AngleAxisf pitch_rot(PITCH_DEG * M_PI / 180.0f, Eigen::Vector3f::UnitY());
+    input = pitch_rot * input;
+  }
+
  auto pt = car_space_transform * input;
-  *out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  bool normal_valid = (pt.z() > 1e-3f &&
+                       std::isfinite(pt.x()) && std::isfinite(pt.y()));
+  QPointF normal_view;
+  if (normal_valid) {
+    normal_view = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
+  }
+
+  const float base_scale_x = 20.0f;
+  const float base_scale_y = 15.0f;
+  const float y_offset = 450.0f;
+
+  float factor_scale_x = 0.0f;
+  if (blend_speed_mph > 0.0f) {
+    if (s->scene.visual_style_overhead_zoom == 1) {
+      factor_scale_x = mapRange(blend_speed_mph, 0.0f, 50.0f, 30.0f, 0.0f);
+    } else if (s->scene.visual_style_overhead_zoom == 2) {
+      factor_scale_x = mapRange(blend_speed_mph, 50.0f, 0.0f, 30.0f, 0.0f);
+    }
+  }
+
+  float scale_x = base_scale_x + factor_scale_x;
+  float scale_y = base_scale_y;
+
+  QPointF topdown_view(
+    clip_region.center().x() + in_y * scale_x,
+    (clip_region.bottom() - y_offset) - in_x * scale_y
+  );
+
+  if ((s->scene.visual_style_overhead == 1 || s->scene.visual_style_overhead == 2) && s->scene.visual_style != 0) {
+    static float blend = 0.0f;
+    static float target_blend = 0.0f;
+    static double last_t = millis_since_boot();
+
+    const bool inverted = (s->scene.visual_style_overhead == 2);
+    const float threshold = s->scene.visual_style_overhead_threshold;
+    const float hysteresis = 5.0f;
+
+    if (!inverted) {
+      if (target_blend < 0.5f && blend_speed_mph > threshold) {
+        target_blend = 1.0f;
+      } else if (target_blend > 0.5f && blend_speed_mph < threshold - hysteresis) {
+        target_blend = 0.0f;
+      }
+    } else {
+      if (target_blend < 0.5f && blend_speed_mph < threshold) {
+        target_blend = 1.0f;
+      } else if (target_blend > 0.5f && blend_speed_mph > threshold + hysteresis) {
+        target_blend = 0.0f;
+      }
+    }
+
+    double now = millis_since_boot();
+    double dt = (now - last_t) / 1000.0;
+    last_t = now;
+
+    const float transition_time = 1.50f;
+    float step = dt / transition_time;
+
+    if (blend < target_blend) {
+      blend = std::min(blend + step, target_blend);
+    } else if (blend > target_blend) {
+      blend = std::max(blend - step, target_blend);
+    }
+
+    if (!normal_valid) return false;
+    *out = QPointF(
+      (1 - blend) * normal_view.x() + blend * topdown_view.x(),
+      (1 - blend) * normal_view.y() + blend * topdown_view.y()
+    );
+  } else {
+    if (!normal_valid) return false;
+    *out = normal_view;
+  }
+
  return clip_region.contains(*out);
 }

--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -196,6 +196,7 @@ mat4 CameraWidget::calcFrameMatrix() {
 }

 void CameraWidget::paintGL() {
+  auto *s = uiState();
  glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
  glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);

@@ -248,7 +249,9 @@ void CameraWidget::paintGL() {

  glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
  glEnableVertexAttribArray(0);
-  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
+  if (s->scene.visual_style == 0) {
+    glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
+  }
  glDisableVertexAttribArray(0);
  glBindVertexArray(0);
  glBindTexture(GL_TEXTURE_2D, 0);
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -30,6 +30,7 @@ qt_src = [
  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
  "sunnypilot/qt/offroad/settings/brightness.cc",
  "sunnypilot/qt/offroad/settings/models_panel.cc",
+  "sunnypilot/qt/offroad/settings/navigation_panel.cc",
  "sunnypilot/qt/offroad/settings/osm_panel.cc",
  "sunnypilot/qt/offroad/settings/settings.cc",
  "sunnypilot/qt/offroad/settings/software_panel.cc",
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.cc
@@ -36,7 +36,7 @@ DisplayPanel::DisplayPanel(QWidget *parent) : QWidget(parent) {
  interactivityTimeout =  new OptionControlSP("InteractivityTimeout", tr("Interactivity Timeout"),
                                   tr("Apply a custom timeout for settings UI."
                                      "\nThis is the time after which settings UI closes automatically if user is not interacting with the screen."),
-                                   "", {0, 120}, 10, true, nullptr, false);
+                                   "", {999999, 1000000}, 1000000, true, nullptr, false);

  connect(interactivityTimeout, &OptionControlSP::updateLabels, [=]() {
    refresh();
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.cc
@@ -0,0 +1,79 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
+
+NavigationPanel::NavigationPanel(QWidget* parent) : QWidget(parent) {
+  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 25, 50, 25);
+
+  list = new ListWidget(this, false);
+  scroller = new ScrollViewSP(list, this);
+  main_layout->addWidget(scroller);
+
+  // Mapbox Token
+  mapbox_token = new ButtonControl(tr("Mapbox Token"), tr("Edit"), tr("Enter your Mapbox API token"));
+  QObject::connect(mapbox_token, &ButtonControl::clicked, [=]() {
+    QString current = QString::fromStdString(params.get("MapboxToken"));
+    QString token = InputDialog::getText(tr("Enter Mapbox Token"), this, "", false, -1, current);
+    if (!token.isEmpty()) {
+      params.put("MapboxToken", token.toStdString());
+      refresh();
+    }
+  });
+  list->addItem(mapbox_token);
+
+  // Mapbox Route
+  mapbox_route = new ButtonControl(tr("Mapbox Route"), tr("Edit"), tr("Enter Mapbox route data"));
+  QObject::connect(mapbox_route, &ButtonControl::clicked, [=]() {
+    QString current = QString::fromStdString(params.get("MapboxRoute"));
+    QString route = InputDialog::getText(tr("Enter Mapbox Route"), this, "", false, -1, current);
+    if (!route.isEmpty()) {
+      params.put("MapboxRoute", route.toStdString());
+      refresh();
+    }
+  });
+  list->addItem(mapbox_route);
+
+  // Allow Navigation
+  allow_navigation = new ParamControlSP("AllowNavigation", tr("Allow Navigation"), tr("Enable navigation features and start navigationd"), "", this);
+  QObject::connect(allow_navigation, &ParamControlSP::toggleFlipped, this, &NavigationPanel::updateNavigationVisibility);
+  list->addItem(allow_navigation);
+
+  // Mapbox Recompute
+  mapbox_recompute = new ParamControlSP("MapboxRecompute", tr("Mapbox Recompute"), tr("Enable automatic route recomputation"), "", this);
+  list->addItem(mapbox_recompute);
+
+  // Nav Allowed
+  nav_allowed = new ParamControlSP("NavDesiresAllowed", tr("Navigation Allowed"), tr("Allow navigation to automatically take turns"), "", this);
+  list->addItem(nav_allowed);
+}
+
+void NavigationPanel::updateNavigationVisibility(bool state) {
+  mapbox_recompute->setVisible(state);
+  nav_allowed->setVisible(state);
+}
+
+void NavigationPanel::showEvent(QShowEvent *event) {
+  refresh();
+}
+
+void NavigationPanel::refresh() {
+  allow_navigation->refresh();
+
+  bool nav_enabled = allow_navigation->isToggled();
+  updateNavigationVisibility(nav_enabled);
+
+  QString token = QString::fromStdString(params.get("MapboxToken"));
+  mapbox_token->setValue(token.isEmpty() ? tr("Not set") : token);
+
+  QString route = QString::fromStdString(params.get("MapboxRoute"));
+  mapbox_route->setValue(route.isEmpty() ? tr("Not set") : route);
+
+  mapbox_recompute->refresh();
+  nav_allowed->refresh();
+}
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h
@@ -0,0 +1,38 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/offroad/settings.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
+
+
+class NavigationPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit NavigationPanel(QWidget* parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+  void refresh();
+
+public slots:
+  void updateNavigationVisibility(bool state);
+
+private:
+  Params params;
+  ListWidget* list;
+  ScrollViewSP* scroller;
+  ParamControlSP* allow_navigation;
+  ButtonControl* mapbox_token;
+  ButtonControl* mapbox_route;
+  ParamControlSP* mapbox_recompute;
+  ParamControlSP* nav_allowed;
+};
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -15,6 +15,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/display_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/navigation_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
@@ -85,6 +86,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
    PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
    PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
    PanelInfo("   " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
+    PanelInfo("   " + tr("Navigation"), new NavigationPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
    PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
    PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
    PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -11,6 +11,18 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
  param_watcher = new ParamWatcher(this);
  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
    paramsRefresh();
+    if (param_name == "VisualStyle") {
+      visual_style_value = param_value.toInt();
+    } else if (param_name == "VisualStyleOverhead") {
+      visual_style_overhead_value = param_value.toInt();
+    } else if (param_name == "VisualRadarTracks") {
+      bool radar_tracks_enabled = param_value.toInt() != 0;
+      visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
+    }
+    visual_style_zoom_settings->setVisible(visual_style_value != 0);
+    visual_style_overhead_settings->setVisible(visual_style_value != 0);
+    visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+    visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
  });

  main_layout = new QStackedLayout(this);
@@ -90,6 +102,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
      "",
      false,
    },
+    {
+      "VisualRadarTracks",
+      tr("Show Radar Tracks"),
+      tr("Shows what the cars radar sees."),
+      "",
+      false,
+    },
  };

  // Add regular toggles first
@@ -116,6 +135,111 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    param_watcher->addParam(param);
  }

+  // Visuals: Radar Tracks Delay
+  visual_radar_tracks_delay_settings = new OptionControlSP("VisualRadarTracksDelay", tr("Adjust Visual Radar Tracks Delay"),
+                                      tr("Delays radar tracks to better match what you see through the camera."),
+                                      "", {0, 100}, 10, false, nullptr, true);
+
+  connect(visual_radar_tracks_delay_settings, &OptionControlSP::updateLabels, [=]() {
+    float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+    visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
+  });
+
+  float radar_tracks_delay_value = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+  visual_radar_tracks_delay_settings->setLabel(QString::number(radar_tracks_delay_value, 'f', 1) + " s");
+
+  list->addItem(visual_radar_tracks_delay_settings);
+
+  // Wide Cam
+  std::vector<QString> visual_wide_cam_settings_texts{tr("Auto"), tr("On"), tr("Off")};
+  visual_wide_cam_settings = new ButtonParamControlSP(
+    "VisualWideCam", tr("Wide Cam"), tr("Override the wide cam view regardless of experimental mode status."),
+    "",
+    visual_wide_cam_settings_texts,
+    250);
+  list->addItem(visual_wide_cam_settings);
+
+  // Visual Style
+  std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision")};
+  visual_style_settings = new ButtonParamControlSP(
+    "VisualStyle", tr("Visual Style"),
+    tr(
+      "Switch between different on-road visualization layouts."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Default:</b> Standard OpenPilot layout with camera and path view.</li>"
+      "<li><b>Minimal:</b> Clean interface without camera feed or extra elements.</li>"
+      "<li><b>Vision:</b> Experimental layout that focuses on model perception and environment.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_settings_texts,
+    380);
+  list->addItem(visual_style_settings);
+
+  // Visual Style Zoom
+  std::vector<QString> visual_style_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_zoom_settings = new ButtonParamControlSP(
+    "VisualStyleZoom", tr("Visual Style Zoom"),
+    tr(
+      "Enables dynamic zooming based on driving speed in the selected visual style."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps the zoom fixed.</li>"
+      "<li><b>Enabled:</b> Zooms in at low speed and out at high speed.</li>"
+      "<li><b>Inverted:</b> Reverses the zoom behavior.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_zoom_settings_texts,
+    380);
+  list->addItem(visual_style_zoom_settings);
+
+  // Visual Style Overhead
+  std::vector<QString> visual_style_overhead_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_overhead_settings = new ButtonParamControlSP(
+    "VisualStyleOverhead", tr("Visual Style Overhead"),
+    tr(
+      "Toggles an overhead (top-down) camera view for a 2D-style perspective."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps the standard forward 3D view.</li>"
+      "<li><b>Enabled:</b> Switches to overhead view when active.</li>"
+      "<li><b>Inverted:</b> Reverses when the transition happens.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_overhead_settings_texts,
+    380);
+  list->addItem(visual_style_overhead_settings);
+
+  // Visual Style Overhead Zoom
+  std::vector<QString> visual_style_overhead_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
+  visual_style_overhead_zoom_settings = new ButtonParamControlSP(
+    "VisualStyleOverheadZoom", tr("Visual Style Overhead Zoom"),
+    tr(
+      "Controls zooming behavior while in overhead mode."
+      "<ul style='margin-left: 10px; margin-top: 4px;'>"
+      "<li><b>Disabled:</b> Keeps a fixed zoom level in overhead mode.</li>"
+      "<li><b>Enabled:</b> Zooms dynamically based on speed while overhead.</li>"
+      "<li><b>Inverted:</b> Opposite zoom direction.</li>"
+      "</ul>"
+    ),
+    "",
+    visual_style_overhead_zoom_settings_texts,
+    380);
+  list->addItem(visual_style_overhead_zoom_settings);
+
+  // Visual Style Overhead Threshold
+  visual_style_overhead_threshold_settings = new OptionControlSP(
+    "VisualStyleOverheadThreshold", tr("Visual Style Overhead Threshold"),
+    tr("Sets the speed (in mph) where the display transitions between normal and overhead view."),
+    "", {10, 80}, 5, false, nullptr, false);
+  auto updateThresholdLabel = [=]() {
+    int mph = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
+    visual_style_overhead_threshold_settings->setLabel(QString("%1 mph").arg(mph));
+  };
+  connect(visual_style_overhead_threshold_settings, &OptionControlSP::updateLabels, updateThresholdLabel);
+  updateThresholdLabel();
+  list->addItem(visual_style_overhead_threshold_settings);
+
  // Visuals: Display Metrics below Chevron
  std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
  chevron_info_settings = new ButtonParamControlSP(
@@ -136,6 +260,19 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
    380);
  list->addItem(dev_ui_settings);

+  bool radar_tracks_enabled = QString::fromStdString(params.get("VisualRadarTracks")).toInt() != 0;
+  visual_radar_tracks_delay_settings->setVisible(radar_tracks_enabled);
+  param_watcher->addParam("VisualRadarTracks");
+
+  visual_style_value = QString::fromStdString(params.get("VisualStyle")).toInt();
+  visual_style_overhead_value = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
+  visual_style_zoom_settings->setVisible(visual_style_value != 0);
+  visual_style_overhead_settings->setVisible(visual_style_value != 0);
+  visual_style_overhead_zoom_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+  visual_style_overhead_threshold_settings->setVisible(visual_style_value != 0 && visual_style_overhead_value != 0);
+  param_watcher->addParam("VisualStyle");
+  param_watcher->addParam("VisualStyleOverhead");
+
  sunnypilotScroller = new ScrollViewSP(list, this);
  vlayout->addWidget(sunnypilotScroller);

@@ -191,4 +328,19 @@ void VisualsPanel::paramsRefresh() {
  if (dev_ui_settings) {
    dev_ui_settings->refresh();
  }
+  if (visual_wide_cam_settings) {
+    visual_wide_cam_settings->refresh();
+  }
+  if (visual_style_settings) {
+    visual_style_settings->refresh();
+  }
+  if (visual_style_zoom_settings) {
+    visual_style_zoom_settings->refresh();
+  }
+  if (visual_style_overhead_settings) {
+    visual_style_overhead_settings->refresh();
+  }
+  if (visual_style_overhead_zoom_settings) {
+    visual_style_overhead_zoom_settings->refresh();
+  }
 }
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -32,4 +32,14 @@ protected:
 ButtonParamControlSP *dev_ui_settings;

 bool has_longitudinal_control = false;
+
+ OptionControlSP *visual_radar_tracks_delay_settings;
+ ButtonParamControlSP *visual_wide_cam_settings;
+ int visual_style_value = 0;
+ int visual_style_overhead_value = 0;
+ ButtonParamControlSP *visual_style_settings;
+ ButtonParamControlSP *visual_style_zoom_settings;
+ ButtonParamControlSP *visual_style_overhead_settings;
+ ButtonParamControlSP *visual_style_overhead_zoom_settings;
+ OptionControlSP *visual_style_overhead_threshold_settings;
 };
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.cc
@@ -5,6 +5,7 @@
 * See the LICENSE.md file in the root directory for more details.
 */
 #include <QPainterPath>
+#include <cmath>

 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"

@@ -154,6 +155,63 @@ void HudRendererSP::updateState(const UIState &s) {

  allow_e2e_alerts = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE &&
                     sm.rcv_frame("driverStateV2") > s.scene.started_frame && !reversing;
+
+  // Navigationd
+  if (sm.updated("navigationd")) {
+    auto nav = sm["navigationd"].getNavigationd();
+    navigationValid = nav.getValid();
+    if (navigationValid && nav.getAllManeuvers().size() > 0) {
+      int currManeuverIdx = nav.getAllManeuvers().size() > 1 ? 1 : 0;
+      auto maneuver = nav.getAllManeuvers()[currManeuverIdx];
+      navigationModifier = QString::fromStdString(maneuver.getModifier());
+      navigationManeuverType = QString::fromStdString(maneuver.getType());
+
+      float dist = maneuver.getDistance();
+      if (is_metric) {
+        if (dist < 1000) {
+          if (dist < 500) {
+            navigationDistance = QString::number(std::round(dist / 25.0) * 25) + " m";
+          }
+          else {
+            navigationDistance = QString::number(std::round(dist / 50.0) * 50) + " m";
+          }
+        } else {
+          navigationDistance = QString::number(dist / 1000, 'f', 1) + " km";
+        }
+      } else {
+        float dist_ft = dist * 3.28084f;
+        if (dist_ft < 1000) {
+          if (dist_ft <= 100){
+            navigationDistance = QString::number((std::round(dist_ft / 10.0) * 10)) + " ft";
+          }
+          else {
+            navigationDistance = QString::number((std::round(dist_ft / 50.0) * 50)) + " ft";
+          }
+        } else {
+          navigationDistance = QString::number(dist_ft / 5280, 'f', 1) + " mi";
+        }
+      }
+
+      QString instruction = QString::fromStdString(maneuver.getInstruction());
+      QStringList parts = instruction.split(" onto ");
+      if (parts.size() > 1) {
+        navigationStreet = parts[1].trimmed();
+      } else {
+        navigationStreet = instruction;
+      }
+      navigationStreet = navigationStreet.replace(".", "");
+
+      // Get next maneuver if available
+      if (nav.getAllManeuvers().size() > 2) {
+        auto nextManeuver = nav.getAllManeuvers()[2];
+        navigationNextModifier = QString::fromStdString(nextManeuver.getModifier());
+        navigationNextManeuverType = QString::fromStdString(nextManeuver.getType());
+        navigationHasNext = true;
+      } else {
+        navigationHasNext = false;
+      }
+    }
+  }
 }

 void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
@@ -287,6 +345,8 @@ void HudRendererSP::draw(QPainter &p, const QRect &surface_rect) {
    }
  }

+  drawNavigationHUD(p, surface_rect);
+
  p.restore();
 }

@@ -306,9 +366,14 @@ bool HudRendererSP::pulseElement(int frame) {
 }

 void HudRendererSP::drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &surface_rect, int x_offset, int y_offset, std::string name) {
-  int x = surface_rect.center().x();
+  int base_x = surface_rect.center().x();
  int y = surface_rect.height() / 4;

+  if (navigationValid) {
+    base_x = 618;
+    y = 420;
+  }
+
  QString text = QString::fromStdString(name);
  QFont font = InterFont(36, QFont::Bold);
  p.setFont(font);
@@ -319,7 +384,7 @@ void HudRendererSP::drawSmartCruiseControlOnroadIcon(QPainter &p, const QRect &s
  int box_width = 160;
  int box_height = fm.height() + padding_v * 2;

-  QRectF bg_rect(x - (box_width / 2) + x_offset,
+  QRectF bg_rect(base_x - (box_width / 2) + x_offset,
                 y - (box_height / 2) + y_offset,
                 box_width, box_height);

@@ -684,15 +749,16 @@ void HudRendererSP::drawSpeedLimitPreActiveArrow(QPainter &p, QRect &sign_rect)
 }

 void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
-  // Draw outer box + border to contain set speed
-  const QSize default_size = {172, 204};
-  QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
-  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-
-  // Draw set speed box
-  p.setPen(QPen(QColor(255, 255, 255, 75), 6));
-  p.setBrush(QColor(0, 0, 0, 166));
-  p.drawRoundedRect(set_speed_rect, 32, 32);
+  // ICBM counter logic
+  if (!pcmCruiseSpeed && carControlEnabled) {
+    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
+      icbm_active_counter = 3 * UI_FREQ;
+    } else if (icbm_active_counter > 0) {
+      icbm_active_counter--;
+    }
+  } else {
+    icbm_active_counter = 0;
+  }

  // Colors based on status
  QColor max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
@@ -713,29 +779,62 @@ void HudRendererSP::drawSetSpeedSP(QPainter &p, const QRect &surface_rect) {
    }
  }

-  // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
-  if (!pcmCruiseSpeed && carControlEnabled) {
-    if (std::nearbyint(set_speed) != std::nearbyint(speedCluster)) {
-      icbm_active_counter = 3 * UI_FREQ;
-    } else if (icbm_active_counter > 0) {
-      icbm_active_counter--;
-    }
-  } else {
-    icbm_active_counter = 0;
-  }
-  int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
-  int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
  QString max_str = (icbm_active_counter != 0) ? QString::number(std::nearbyint(speedCluster)) : tr("MAX");
-
-  p.setFont(InterFont(max_str_size, QFont::DemiBold));
-  p.setPen(max_color);
-  p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
-
-  // Draw set speed
  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(set_speed)) : "–";
-  p.setFont(InterFont(90, QFont::Bold));
-  p.setPen(set_speed_color);
-  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+
+  if (!navigationValid) {
+    // Original positions when navigation is not valid
+    const QSize default_size = {172, 204};
+    QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
+    QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
+
+    // Draw set speed box
+    p.setPen(QPen(QColor(255, 255, 255, 75), 6));
+    p.setBrush(QColor(0, 0, 0, 166));
+    p.drawRoundedRect(set_speed_rect, 32, 32);
+
+    // Draw "MAX" or carState.cruiseState.speedCluster (when ICBM is active) text
+    int max_str_size = (icbm_active_counter != 0) ? 60 : 40;
+    int max_str_y = (icbm_active_counter != 0) ? 15 : 27;
+
+    p.setFont(InterFont(max_str_size, QFont::DemiBold));
+    p.setPen(max_color);
+    p.drawText(set_speed_rect.adjusted(0, max_str_y, 0, 0), Qt::AlignTop | Qt::AlignHCenter, max_str);
+
+    // Draw set speed
+    p.setFont(InterFont(90, QFont::Bold));
+    p.setPen(set_speed_color);
+    p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+  } else {
+    // Modified positions when navigation is valid
+    const int container_width = 200;
+    const int container_height = 320;
+    const int container_x = 40;
+    const int container_y = 45;
+
+    QRect speed_container(container_x, container_y, container_width, container_height);
+
+    // Draw outer rounded rectangle container
+    p.setPen(QPen(QColor(255, 255, 255, 75), 6));
+    p.setBrush(QColor(0, 0, 0, 166));
+    p.drawRoundedRect(speed_container, 24, 24);
+
+    int divider_y = container_y + 190;
+    p.setPen(QPen(QColor(255, 255, 255, 50), 2));
+    p.drawLine(container_x + 20, divider_y, container_x + container_width - 20, divider_y);
+
+    // max label
+    QRect max_label_rect(container_x, container_y + 200, container_width, 35);
+    p.setFont(InterFont(32, QFont::Normal));
+    p.setPen(max_color);
+    p.drawText(max_label_rect, Qt::AlignCenter, max_str);
+
+    // Set speed value
+    QRect set_speed_rect(container_x, container_y + 240, container_width, 70);
+    p.setFont(InterFont(68, QFont::Bold));
+    p.setPen(set_speed_color);
+    p.drawText(set_speed_rect, Qt::AlignCenter, setSpeedStr);
+  }
 }

 void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text) {
@@ -794,12 +893,40 @@ void HudRendererSP::drawE2eAlert(QPainter &p, const QRect &surface_rect, const Q

 void HudRendererSP::drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect) {
  QString speedStr = QString::number(std::nearbyint(speed));
+  QString unit = is_metric ? tr("km/h") : tr("mph");

-  p.setFont(InterFont(176, QFont::Bold));
-  HudRenderer::drawText(p, surface_rect.center().x(), 210, speedStr);
+  int speed_x = surface_rect.center().x();
+  int speed_y = 210;
+  int unit_y = 290;
+  QFont speed_font = InterFont(176, QFont::Bold);
+  QFont unit_font = InterFont(66);

-  p.setFont(InterFont(66));
-  HudRenderer::drawText(p, surface_rect.center().x(), 290, is_metric ? tr("km/h") : tr("mph"), 200);
+  if (navigationValid) {
+    speed_y = 75;
+    unit_y = 175;
+    speed_font = InterFont(100, QFont::Bold);
+    unit_font = InterFont(35, QFont::Normal);
+  }
+
+  // Draw speed
+  p.setFont(speed_font);
+  if (!navigationValid) {
+    HudRenderer::drawText(p, speed_x, speed_y, speedStr);
+  } else {
+    QRect current_speed_rect(40, speed_y, 200, 100);
+    p.setPen(Qt::white);
+    p.drawText(current_speed_rect, Qt::AlignCenter, speedStr);
+  }
+
+  // Draw unit
+  p.setFont(unit_font);
+  if (!navigationValid) {
+    HudRenderer::drawText(p, speed_x, unit_y, unit, 200);
+  } else {
+    QRect unit_rect(40, unit_y, 200, 40);
+    p.setPen(QColor(180, 180, 180, 255));
+    p.drawText(unit_rect, Qt::AlignCenter, unit);
+  }
 }

 void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
@@ -827,7 +954,7 @@ void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {
  const int circleRadius = 60;
  const int arrowLength = 60;
  const int x_gap = 160;
-  const int y_offset = 272;
+  const int y_offset = navigationValid ? 352 : 300;

  const int centerX = surface_rect.center().x();

@@ -885,3 +1012,181 @@ void HudRendererSP::drawBlinker(QPainter &p, const QRect &surface_rect) {

  p.restore();
 }
+
+QString HudRendererSP::getNavigationIconName(const QString &type, const QString &mod) {
+  static QMap<QString, QString> icon_map;
+  if (icon_map.isEmpty()) {
+    icon_map["turn|uturn"] = "direction_uturn.png";
+    icon_map["turn|sharp right"] = "direction_turn_sharp_right.png";
+    icon_map["turn|right"] = "direction_turn_right.png";
+    icon_map["turn|slight right"] = "direction_turn_slight_right.png";
+    icon_map["turn|straight"] = "direction_turn_straight.png";
+    icon_map["turn|slight left"] = "direction_turn_slight_left.png";
+    icon_map["turn|left"] = "direction_turn_left.png";
+    icon_map["turn|sharp left"] = "direction_turn_sharp_left.png";
+
+    icon_map["arrive|right"] = "direction_arrive_right.png";
+    icon_map["arrive|straight"] = "direction_arrive_straight.png";
+    icon_map["arrive|left"] = "direction_arrive_left.png";
+    icon_map["arrive|"] = "direction_arrive.png";
+
+    icon_map["merge|slight right"] = "direction_merge_slight_right.png";
+    icon_map["merge|right"] = "direction_merge_right.png";
+    icon_map["merge|straight"] = "direction_merge_straight.png";
+    icon_map["merge|slight left"] = "direction_merge_slight_left.png";
+    icon_map["merge|left"] = "direction_merge_left.png";
+
+    icon_map["on ramp|sharp right"] = "direction_on_ramp_sharp_right.png";
+    icon_map["on ramp|right"] = "direction_on_ramp_right.png";
+    icon_map["on ramp|slight right"] = "direction_on_ramp_slight_right.png";
+    icon_map["on ramp|straight"] = "direction_on_ramp_straight.png";
+    icon_map["on ramp|slight left"] = "direction_on_ramp_slight_left.png";
+    icon_map["on ramp|left"] = "direction_on_ramp_left.png";
+    icon_map["on ramp|sharp left"] = "direction_on_ramp_sharp_left.png";
+
+    icon_map["off ramp|slight right"] = "direction_off_ramp_slight_right.png";
+    icon_map["off ramp|right"] = "direction_off_ramp_right.png";
+    icon_map["off ramp|slight left"] = "direction_off_ramp_slight_left.png";
+    icon_map["off ramp|left"] = "direction_off_ramp_left.png";
+
+    icon_map["roundabout|sharp right"] = "direction_roundabout_sharp_right.png";
+    icon_map["roundabout|right"] = "direction_roundabout_right.png";
+    icon_map["roundabout|slight right"] = "direction_roundabout_slight_right.png";
+    icon_map["roundabout|straight"] = "direction_roundabout_straight.png";
+    icon_map["roundabout|slight left"] = "direction_roundabout_slight_left.png";
+    icon_map["roundabout|left"] = "direction_roundabout_left.png";
+    icon_map["roundabout|sharp left"] = "direction_roundabout_sharp_left.png";
+    icon_map["roundabout|"] = "direction_roundabout.png";
+  }
+
+  QString normalized_type = type;
+  if (normalized_type == "rotary") {
+    normalized_type = "roundabout";
+  } else if (normalized_type == "new name") {
+    normalized_type = "turn";
+  } else if (normalized_type == "continue") {
+    normalized_type = "turn";
+  }
+
+  QString icon_name;
+  QStringList keys = {normalized_type + "|" + mod, normalized_type + "|", "turn|" + mod};
+  for (const QString &key : keys) {
+    icon_name = icon_map.value(key);
+    if (!icon_name.isEmpty()) break;
+  }
+  if (icon_name.isEmpty()) {
+    icon_name = "direction_turn_straight.png";
+  }
+  return icon_name;
+}
+
+void HudRendererSP::drawNavigationHUD(QPainter &p, const QRect &surface_rect) {
+  if (!navigationValid) return;
+  p.save();
+
+  const int container_width = 1080;
+  const int container_height = 225;
+  const int container_x = (surface_rect.width() - container_width) / 2;
+  const int container_y = 62;
+  const int border_radius = 42;
+
+  QRect container_rect(container_x, container_y, container_width, container_height);
+
+  p.setPen(Qt::NoPen);
+  p.setBrush(QColor(0, 0, 0, 180));
+  p.drawRoundedRect(container_rect, border_radius, border_radius);
+
+  // Navigation icon
+  const int icon_size = 150;
+  const int icon_padding = 30;
+  const int icon_x = container_x + icon_padding;
+  const int icon_y = container_y;
+
+  QString icon_name = getNavigationIconName(navigationManeuverType, navigationModifier);
+  QPixmap nav_icon = loadPixmap("../../sunnypilot/selfdrive/assets/navigation/" + icon_name, {icon_size, icon_size});
+
+  if (!nav_icon.isNull()) {
+    p.drawPixmap(icon_x, icon_y, nav_icon);
+  }
+
+  // Distance
+  p.setFont(InterFont(48, QFont::Bold));
+  p.setPen(Qt::white);
+  QRect distance_rect(icon_x, icon_y + icon_size, icon_size, 38);
+  p.drawText(distance_rect, Qt::AlignCenter, navigationDistance);
+
+  const int then_section_width = 180;
+  const int text_x = icon_x + icon_size + 53;
+  const int text_area_width = container_width - (text_x - container_x) - icon_padding - then_section_width;
+
+  // Street name
+  p.setFont(InterFont(75, QFont::Bold));
+  p.setPen(Qt::white);
+  QFontMetrics fm(p.font());
+
+  QString street_line1, street_line2;
+  QStringList words = navigationStreet.split(' ');
+  QString currentLine;
+
+  for (int i = 0; i < words.size(); ++i) {
+    QString testLine = currentLine.isEmpty() ? words[i] : currentLine + " " + words[i];
+    if (fm.horizontalAdvance(testLine) <= text_area_width) {
+      currentLine = testLine;
+    } else {
+      if (street_line1.isEmpty()) {
+        street_line1 = currentLine;
+        currentLine = words[i];
+      } else {
+        break;
+      }
+    }
+  }
+
+  if (street_line1.isEmpty()) {
+    street_line1 = currentLine;
+  } else if (!currentLine.isEmpty()) {
+    street_line2 = currentLine;
+    if (words.size() > words.indexOf(currentLine.split(' ').last()) + 1) {
+      street_line2 = fm.elidedText(street_line2, Qt::ElideRight, text_area_width);
+    }
+  }
+
+  if (street_line2.isEmpty()) {
+    QRect street_rect(text_x, container_y + (container_height - fm.height()) / 2, text_area_width, fm.height());
+    p.drawText(street_rect, Qt::AlignLeft | Qt::AlignVCenter, street_line1);
+  } else {
+    QRect street_rect1(text_x, container_y + 23, text_area_width, fm.height());
+    p.drawText(street_rect1, Qt::AlignLeft | Qt::AlignVCenter, street_line1);
+
+    QRect street_rect2(text_x, container_y + 23 + fm.height(), text_area_width, fm.height());
+    p.drawText(street_rect2, Qt::AlignLeft | Qt::AlignVCenter, street_line2);
+  }
+
+  // Next Maneuver
+  if (navigationHasNext) {
+    const int divider_x = container_x + container_width - then_section_width - 8;
+    p.setPen(QPen(QColor(255, 255, 255, 50), 2));
+    p.drawLine(divider_x, container_y + 23, divider_x, container_y + container_height - 23);
+
+    const int then_x = divider_x + 15;
+    const int then_icon_size = 105;
+
+    QRect then_label_rect(then_x, container_y + 30, then_section_width - 23, 38);
+    p.setFont(InterFont(53, QFont::Medium));
+    p.setPen(Qt::white);
+    p.drawText(then_label_rect, Qt::AlignCenter, tr("Then"));
+
+    // Next maneuver icon
+    const int then_icon_x = then_x + (then_section_width - 23 - then_icon_size) / 2;
+    const int then_icon_y = container_y + 75;
+
+    QString next_icon_name = getNavigationIconName(navigationNextManeuverType, navigationNextModifier);
+    QPixmap next_nav_icon = loadPixmap("../../sunnypilot/selfdrive/assets/navigation/" + next_icon_name, {then_icon_size, then_icon_size});
+
+    if (!next_nav_icon.isNull()) {
+      p.drawPixmap(then_icon_x, then_icon_y, next_nav_icon);
+    }
+  }
+
+  p.restore();
+}
--- a/selfdrive/ui/sunnypilot/qt/onroad/hud.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/hud.h
@@ -39,6 +39,8 @@ private:
  void drawE2eAlert(QPainter &p, const QRect &surface_rect, const QString &alert_alt_text = "");
  void drawCurrentSpeedSP(QPainter &p, const QRect &surface_rect);
  void drawBlinker(QPainter &p, const QRect &surface_rect);
+  void drawNavigationHUD(QPainter &p, const QRect &surface_rect);
+  QString getNavigationIconName(const QString &type, const QString &mod);

  bool lead_status;
  float lead_d_rel;
@@ -120,4 +122,13 @@ private:
  float speedCluster = 0;
  int icbm_active_counter = 0;
  bool pcmCruiseSpeed = true;
+
+  bool navigationValid;
+  QString navigationStreet;
+  QString navigationDistance;
+  QString navigationModifier;
+  QString navigationManeuverType;
+  QString navigationNextModifier;
+  QString navigationNextManeuverType;
+  bool navigationHasNext;
 };
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -8,6 +8,12 @@
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"


+void ModelRendererSP::drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius) {
+  painter.setBrush(QColor(255, 255, 255, 200));
+  painter.setPen(Qt::NoPen);
+  painter.drawEllipse(pos, radius, radius);
+}
+
 void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
  ModelRenderer::update_model(model, lead);
  const auto &model_position = model.getPosition();
@@ -67,6 +73,26 @@ void ModelRendererSP::draw(QPainter &painter, const QRect &surface_rect) {
    const bool right_blindspot = car_state.getRightBlindspot();
    drawBlindspot(painter, surface_rect, left_blindspot, right_blindspot);
  }
+
+  if (s->scene.visual_radar_tracks) {
+    if (sm.alive("liveTracks") && sm.rcv_frame("liveTracks") >= s->scene.started_frame) {
+      const auto &tracks = sm["liveTracks"].getLiveTracks().getPoints();
+      for (const auto &track : tracks) {
+        if (!std::isfinite(track.getDRel()) || !std::isfinite(track.getYRel())) continue;
+        float t_lag = s->scene.visual_radar_tracks_delay;
+        float d_pred = track.getDRel();
+        float y_pred = track.getYRel();
+        if (t_lag > 0.0f) {
+          d_pred += track.getVRel() * t_lag + 0.5f * track.getARel() * t_lag * t_lag;
+        }
+        QPointF screen_pt;
+        if (mapToScreen(d_pred, -y_pred, path_offset_z, &screen_pt)) {
+          drawRadarPoint(painter, screen_pt, track.getVRel(), 10.0f);
+        }
+      }
+    }
+  }
+
  drawLeadStatus(painter, surface_rect.height(), surface_rect.width());

  painter.restore();
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h
@@ -28,4 +28,6 @@ private:

  // Lead status animation
  float lead_status_alpha = 0.0f;
+
+  void drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius = 10.0f);
 };
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -29,7 +29,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
    "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
    "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
    "carControl", "gpsLocationExternal", "gpsLocation", "liveTorqueParameters",
-    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP"
+    "carStateSP", "liveParameters", "liveMapDataSP", "carParamsSP", "navigationd", "liveTracks"
  });

  // update timer
@@ -44,6 +44,14 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
  });
  param_watcher->addParam("DevUIInfo");
  param_watcher->addParam("StandstillTimer");
+  param_watcher->addParam("VisualRadarTracks");
+  param_watcher->addParam("VisualRadarTracksDelay");
+  param_watcher->addParam("VisualWideCam");
+  param_watcher->addParam("VisualStyle");
+  param_watcher->addParam("VisualStyleZoom");
+  param_watcher->addParam("VisualStyleOverhead");
+  param_watcher->addParam("VisualStyleOverheadZoom");
+  param_watcher->addParam("VisualStyleOverheadThreshold");
 }

 // This method overrides completely the update method from the parent class intentionally.
@@ -76,6 +84,17 @@ void ui_update_params_sp(UIStateSP *s) {
  s->scene.chevron_info = std::atoi(params.get("ChevronInfo").c_str());
  s->scene.blindspot_ui = params.getBool("BlindSpot");
  s->scene.rainbow_mode = params.getBool("RainbowMode");
+
+  s->scene.visual_radar_tracks = QString::fromStdString(params.get("VisualRadarTracks")).toInt();
+  s->scene.visual_radar_tracks_delay = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
+
+  s->scene.visual_wide_cam = QString::fromStdString(params.get("VisualWideCam")).toInt();
+
+  s->scene.visual_style = QString::fromStdString(params.get("VisualStyle")).toInt();
+  s->scene.visual_style_zoom = QString::fromStdString(params.get("VisualStyleZoom")).toInt();
+  s->scene.visual_style_overhead = QString::fromStdString(params.get("VisualStyleOverhead")).toInt();
+  s->scene.visual_style_overhead_zoom = QString::fromStdString(params.get("VisualStyleOverheadZoom")).toInt();
+  s->scene.visual_style_overhead_threshold = QString::fromStdString(params.get("VisualStyleOverheadThreshold")).toInt();
 }

 void UIStateSP::reset_onroad_sleep_timer(OnroadTimerStatusToggle toggleTimerStatus) {
--- a/selfdrive/ui/sunnypilot/ui_scene.h
+++ b/selfdrive/ui/sunnypilot/ui_scene.h
@@ -21,4 +21,12 @@ typedef struct UISceneSP : UIScene {
  int chevron_info;
  bool blindspot_ui;
  bool rainbow_mode;
+  int visual_radar_tracks = 0;
+  float visual_radar_tracks_delay = 0;
+  int visual_wide_cam = 0;
+  int visual_style = 0;
+  int visual_style_zoom = 0;
+  int visual_style_overhead = 0;
+  int visual_style_overhead_zoom = 0;
+  int visual_style_overhead_threshold = 20.0;
 } UISceneSP;
--- a/sunnypilot/navd/README.md
+++ b/sunnypilot/navd/README.md
@@ -0,0 +1,6 @@
+# Navigation
+
+Navigation daemon with Mapbox integration for semi-offline navigation. This module handles route planning, geocoding, and turn-by-turn instructions to support autonomous driving features.
+
+- `navigation_helpers/`: Mapbox API integration and navigation instructions processing.
+- `navigationd`: Navigation service which uses mapbox integration to generate a route and keep it up to date. This service runs at three hz, using keep time to ensure the while loop only updates three times a second rather than every time sm updates, which in this case would be twenty hz (LLK).
--- a/sunnypilot/navd/init.py
+++ b/sunnypilot/navd/init.py
--- a/sunnypilot/navd/constants.py
+++ b/sunnypilot/navd/constants.py
@@ -0,0 +1,16 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+
+
+class NAV_CV:
+  """ These distances are expected in meters format and convert to desired format """
+  SHORT_DISTANCE_METERS = 200.0
+  QUARTER_MILE = 402.336
+  POINT_ONE_MILE = 160.9344
+  METERS_TO_KILO = 1000  # divide n by this
+  METERS_TO_MILE = 1609.344  # divide n by this
+  METERS_TO_FEET = 3.280839895  # multiply n by this
--- a/sunnypilot/navd/helpers.py
+++ b/sunnypilot/navd/helpers.py
@@ -126,6 +126,8 @@ def string_to_direction(direction: str) -> str:
    if d in direction:
      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
        return 'slight' + d.capitalize()
+      elif 'sharp' in direction and d in MODIFIABLE_DIRECTIONS:
+        return 'sharp' + d.capitalize()
      return d
  return 'none'

--- a/sunnypilot/navd/navigation_desires/init.py
+++ b/sunnypilot/navd/navigation_desires/init.py
--- a/sunnypilot/navd/navigation_desires/navigation_desires.py
+++ b/sunnypilot/navd/navigation_desires/navigation_desires.py
@@ -0,0 +1,44 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import cereal.messaging as messaging
+from cereal import car, log
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+
+class NavigationDesires:
+  def __init__(self):
+    self.sm = messaging.SubMaster(['navigationd'])
+    self.desire = log.Desire.none
+    self._turn_speed_limit = 20 * CV.MPH_TO_MS
+    self._params = Params()
+    self.param_counter = -1
+    self.nav_allowed: bool = False
+
+  def update_params(self):
+    self.param_counter += 1
+    if self.param_counter % 60 == 0:  # every 3 seconds at 20hz
+      self.nav_allowed = self._params.get("NavDesiresAllowed", return_default=True)
+
+  def update(self, CS: car.CarState, lateral_active: bool) -> log.Desire:
+    self.update_params()
+    self.sm.update(0)
+    nav_msg = self.sm['navigationd']
+    self.desire = log.Desire.none
+    if self.nav_allowed and nav_msg.valid and lateral_active:
+      upcoming = nav_msg.upcomingTurn
+      if upcoming == 'slightLeft' and (not CS.leftBlindspot or CS.vEgo < self._turn_speed_limit):
+        self.desire = log.Desire.keepLeft
+      elif upcoming == 'slightRight' and (not CS.rightBlindspot or CS.vEgo < self._turn_speed_limit):
+        self.desire = log.Desire.keepRight
+      elif (upcoming == 'left' and CS.steeringPressed and CS.steeringTorque > 0 and not CS.rightBlinker
+            and not CS.leftBlindspot and CS.vEgo < self._turn_speed_limit):
+        self.desire = log.Desire.turnLeft
+      elif (upcoming == 'right' and CS.steeringPressed and CS.steeringTorque < 0 and not CS.leftBlinker
+            and not CS.rightBlindspot and CS.vEgo < self._turn_speed_limit):
+        self.desire = log.Desire.turnRight
+    return self.desire
--- a/sunnypilot/navd/navigation_desires/tests/init.py
+++ b/sunnypilot/navd/navigation_desires/tests/init.py
--- a/sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
+++ b/sunnypilot/navd/navigation_desires/tests/test_navigation_desires.py
@@ -0,0 +1,96 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pytest
+import types
+
+from cereal import log
+from openpilot.common.params import Params
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.navd.navigation_desires.navigation_desires import NavigationDesires
+
+
+def make_car(vEgo=0, leftBlinker=False, rightBlinker=False, leftBlindspot=False, rightBlindspot=False, steeringPressed=False, steeringTorque=0):
+  return types.SimpleNamespace(
+    vEgo=vEgo, leftBlinker=leftBlinker, rightBlinker=rightBlinker,
+    leftBlindspot=leftBlindspot, rightBlindspot=rightBlindspot,
+    steeringPressed=steeringPressed, steeringTorque=steeringTorque
+  )
+
+NAVIGATION_PARAMS: list[tuple] = [
+  ('slightLeft', make_car(), log.Desire.keepLeft),
+  ('slightRight', make_car(), log.Desire.keepRight),
+  ('slightLeft', make_car(vEgo=9, leftBlindspot=True), log.Desire.none),
+  ('slightRight', make_car(vEgo=9, rightBlindspot=True), log.Desire.none),
+  ('left', make_car(vEgo=5, leftBlinker=True, rightBlinker=False, leftBlindspot=False, steeringPressed=True, steeringTorque=1), log.Desire.turnLeft),
+  ('left', make_car(vEgo=5, leftBlinker=False, rightBlinker=True), log.Desire.none),
+  ('right', make_car(vEgo=6, rightBlinker=True, leftBlindspot=False, steeringPressed=True, steeringTorque=-1), log.Desire.turnRight),
+  ('right', make_car(vEgo=6, rightBlinker=True, rightBlindspot=True), log.Desire.none),
+  ('left', make_car(vEgo=9, leftBlinker=True), log.Desire.none),
+]
+
+INTEGRATION_PARAMS: list[tuple] = [(carstate, upcoming, log.Desire.none, expected) for upcoming, carstate, expected in NAVIGATION_PARAMS] + [
+  (make_car(vEgo=9, leftBlinker=True, steeringPressed=True, steeringTorque=1), 'slightLeft', log.Desire.turnLeft, log.Desire.keepLeft),
+  (make_car(vEgo=9, rightBlinker=True, steeringPressed=True, steeringTorque=-1), 'slightRight', log.Desire.turnRight, log.Desire.keepRight),
+  (make_car(vEgo=9, leftBlinker=True), 'slightLeft', log.Desire.laneChangeLeft, log.Desire.laneChangeLeft),
+  (make_car(vEgo=9, rightBlinker=True), 'slightRight', log.Desire.laneChangeRight, log.Desire.laneChangeRight),
+  (make_car(vEgo=9), 'none', log.Desire.none, log.Desire.none),
+]
+
+def make_nav_msg(valid=False, upcoming='none'):
+  return types.SimpleNamespace(valid=valid, upcomingTurn=upcoming)
+
+def params_setter(allowed: bool):
+  params = Params()
+  params.put("NavDesiresAllowed", allowed)
+
+@pytest.fixture
+def mock_submaster(mocker):
+  mock_sm = mocker.patch('cereal.messaging.SubMaster')
+  mock_sm_instance = mocker.Mock()
+  mock_sm.return_value = mock_sm_instance
+  mock_sm_instance.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=False))
+  params_setter(True)
+  return mock_sm_instance
+
+@pytest.mark.parametrize("upcoming, carstate, expected", NAVIGATION_PARAMS)
+def test_navigation_desires_update(mock_submaster, mocker, upcoming, carstate, expected):
+  nav_desires = NavigationDesires()
+  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
+  nav_desires.update(carstate, True)
+  assert nav_desires.desire == expected
+
+@pytest.mark.parametrize("msg_valid,lateral_active", [(False, True), (True, False)])
+def test_invalid_or_inactive(mock_submaster, mocker, msg_valid, lateral_active):
+  nav_desires = NavigationDesires()
+  nav_desires.sm.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=msg_valid, upcoming='slightLeft'))
+  nav_desires.update(make_car(), lateral_active)
+  assert nav_desires.desire == log.Desire.none
+
+def test_update(mock_submaster, mocker):
+  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming='left'))
+  nav_desires = NavigationDesires()
+
+  assert nav_desires.update(make_car(leftBlinker=True, steeringPressed=True, steeringTorque=1), True) == log.Desire.turnLeft
+
+  params_setter(False)
+  nav_desires.param_counter = 59
+  nav_desires.update(make_car(leftBlinker=True), True)
+  assert nav_desires.desire == log.Desire.none
+
+@pytest.mark.parametrize("carstate, upcoming, current_desire, expected", INTEGRATION_PARAMS)
+def test_desire_helper(mock_submaster, mocker, carstate, upcoming, current_desire, expected):
+  mock_submaster.__getitem__ = mocker.Mock(return_value=make_nav_msg(valid=True, upcoming=upcoming))
+  dh = DesireHelper()
+  dh.desire = current_desire
+
+  if current_desire in (log.Desire.laneChangeLeft, log.Desire.laneChangeRight):
+    dh.lane_change_state = log.LaneChangeState.laneChangeStarting
+    dh.lane_change_direction = log.LaneChangeDirection.left if current_desire == log.Desire.laneChangeLeft else log.LaneChangeDirection.right
+
+  dh.update(carstate, True, 1.0)
+  assert dh.desire == expected
--- a/sunnypilot/navd/navigation_helpers/init.py
+++ b/sunnypilot/navd/navigation_helpers/init.py
--- a/sunnypilot/navd/navigation_helpers/mapbox_integration.py
+++ b/sunnypilot/navd/navigation_helpers/mapbox_integration.py
@@ -0,0 +1,113 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import requests
+from urllib.parse import quote
+
+from openpilot.common.params import Params
+
+
+class MapboxIntegration:
+  def __init__(self):
+    self.params = Params()
+
+  def get_public_token(self) -> str:
+    token: str = self.params.get('MapboxToken', return_default=True)
+    return token
+
+  def set_destination(self, postvars, current_lon, current_lat, bearing=None) -> tuple[dict, bool]:
+    if 'latitude' in postvars and 'longitude' in postvars:
+      self.nav_confirmed(postvars, current_lon, current_lat, bearing)
+      return postvars, True
+
+    addr = postvars['place_name']
+    if not addr:
+      return postvars, False
+
+    token = self.get_public_token()
+    url = f'https://api.mapbox.com/geocoding/v5/mapbox.places/{quote(addr)}.json?access_token={token}&limit=1&proximity={current_lon},{current_lat}'
+    try:
+      response = requests.get(url, timeout=5)
+      if response.status_code == 200:
+        features = response.json()['features']
+        if features:
+          longitude, latitude = features[0]['geometry']['coordinates']
+          postvars.update({'latitude': latitude, 'longitude': longitude, 'name': addr})
+          self.nav_confirmed(postvars, current_lon, current_lat, bearing)
+          return postvars, True
+    except requests.RequestException:
+      pass  # Broad exception to handle network errors like no internet without crashing navd process.
+    return postvars, False
+
+  def nav_confirmed(self, postvars, start_lon, start_lat, bearing=None) -> None:
+    if not postvars:
+      return
+
+    latitude = float(postvars['latitude'])
+    longitude = float(postvars['longitude'])
+
+    data: dict = {'navData': {'current': {'latitude': latitude, 'longitude': longitude}, 'route': {}}}
+
+    token = self.get_public_token()
+    route_data = self.generate_route(start_lon, start_lat, longitude, latitude, token, bearing)
+    if route_data:
+      data['navData']['route'] = route_data
+    self.params.put('MapboxSettings', data)
+
+  @staticmethod
+  def generate_route(start_lon, start_lat, end_lon, end_lat, token, bearing=None) -> dict | None:
+    if not token:
+      return None
+
+    params = {
+      'access_token': token,
+      'geometries': 'geojson',
+      'steps': 'true',
+      'overview': 'full',
+      'annotations': 'maxspeed',
+      'alternatives': 'false',
+      'banner_instructions': 'true',
+    }
+    if bearing is not None:
+      params['bearings'] = f'{int((bearing + 360) % 360):.0f},90;'
+
+    try:
+      response = requests.get(f'https://api.mapbox.com/directions/v5/mapbox/driving/{start_lon},{start_lat};{end_lon},{end_lat}', params=params, timeout=5)
+      data = response.json() if response.status_code == 200 else {}
+    except requests.RequestException:
+      return None
+
+    routes = data['routes'] if data else None
+    legs = routes[0]['legs'] if routes else None
+
+    if data.get('code') != 'Ok' or not routes or not legs:
+      return None
+
+    route = routes[0]
+    leg = legs[0]
+
+    steps = [
+      {
+        'maneuver': step['maneuver']['type'],
+        'instruction': step['maneuver']['instruction'],
+        'distance': step['distance'],
+        'duration': step['duration'],
+        'location': {'longitude': step['maneuver']['location'][0], 'latitude': step['maneuver']['location'][1]},
+        'modifier': step['maneuver'].get('modifier', 'none'),
+        'bannerInstructions': step['bannerInstructions'],
+      }
+      for step in leg['steps']
+    ]
+
+    maxspeed = [{'speed': item['speed'], 'unit': item['unit']} for item in leg['annotation']['maxspeed'] if 'speed' in item]
+
+    return {
+      'steps': steps,
+      'totalDistance': route['distance'],
+      'totalDuration': route['duration'],
+      'geometry': [{'longitude': coord[0], 'latitude': coord[1]} for coord in route['geometry']['coordinates']],
+      'maxspeed': maxspeed,
+    }
--- a/sunnypilot/navd/navigation_helpers/nav_instructions.py
+++ b/sunnypilot/navd/navigation_helpers/nav_instructions.py
@@ -0,0 +1,138 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.constants import CV
+from openpilot.common.params import Params
+
+from openpilot.sunnypilot.navd.helpers import Coordinate, string_to_direction
+
+
+class NavigationInstructions:
+  def __init__(self):
+    self.coord = Coordinate(0, 0)
+    self.params = Params()
+    self._cached_route = None
+    self._route_loaded = False
+    self._no_route = False
+
+  def get_route_progress(self, current_lat, current_lon) -> dict | None:
+    route = self.get_current_route()
+    if not route or not route['geometry'] or not route['steps']:
+      return None
+
+    self.coord.latitude = current_lat
+    self.coord.longitude = current_lon
+
+    # Find the closest point on the route relative to self
+    closest_idx, min_distance = min(((idx, self.coord.distance_to(coord)) for idx, coord in enumerate(route['geometry'])), key=lambda x: x[1])
+    closest_cumulative = route['cumulative_distances'][closest_idx]
+
+    # Find the current step index, which is the HIGHEST idx where the step location cumulative less/equal closest cumulative
+    current_step_idx = max((idx for idx, step in enumerate(route['steps']) if step['cumulative_distance'] <= closest_cumulative), default=-1)
+    current_step = route['steps'][current_step_idx if current_step_idx >= 0 else 0]
+
+    # The next turn is the next step relative to our cumulative index
+    next_turn_idx = current_step_idx + 1
+    next_turn = route['steps'][next_turn_idx] if 0 <= next_turn_idx < len(route['steps']) else None
+
+    current_maxspeed = current_step['maxspeed']
+
+    distance_to_end_of_step = max(0, current_step['distance'] - (closest_cumulative - current_step['cumulative_distance']))
+
+    all_maneuvers: list = []
+    max_maneuvers = 3
+    for idx in range(current_step_idx, min(current_step_idx + max_maneuvers, len(route['steps']))):
+      step = route['steps'][idx]
+      if idx == current_step_idx:
+        distance = distance_to_end_of_step
+      else:
+        distance = step['cumulative_distance'] - closest_cumulative
+      all_maneuvers.append({'distance': distance, 'type': step['maneuver'], 'modifier': step['modifier'], 'instruction': step['instruction']})
+
+    return {
+      'distance_from_route': min_distance,
+      'current_step': current_step,
+      'next_turn': next_turn,
+      'current_maxspeed': current_maxspeed,
+      'all_maneuvers': all_maneuvers,
+      'current_step_idx': current_step_idx,
+      'distance_to_end_of_step': distance_to_end_of_step,
+    }
+
+  def get_current_route(self):
+    if self._route_loaded and self._cached_route is not None:
+      return self._cached_route
+    if self._no_route:
+      return None
+
+    param_value = self.params.get('MapboxSettings')
+    route = param_value['navData']['route'] if param_value else None
+    if not route:
+      self._no_route = True
+      return None
+
+    geometry = [Coordinate(coord['latitude'], coord['longitude']) for coord in route['geometry']]
+    cumulative_distances = [0.0]
+    cumulative_distances.extend(cumulative_distances[-1] + geometry[step - 1].distance_to(geometry[step]) for step in range(1, len(geometry)))
+    maxspeed = [(speed['speed'], speed['unit']) for speed in route['maxspeed']]
+    steps = []
+    for step in route['steps']:
+      location = Coordinate(step['location']['latitude'], step['location']['longitude'])
+      closest_idx = min(range(len(geometry)), key=lambda i: location.distance_to(geometry[i]))
+      steps.append({
+        'bannerInstructions': step['bannerInstructions'],
+        'distance': step['distance'],
+        'duration': step['duration'],
+        'maneuver': step['maneuver'],
+        'location': location,
+        'cumulative_distance': cumulative_distances[closest_idx],
+        'maxspeed': maxspeed[min(closest_idx, len(maxspeed) - 1)] if len(maxspeed) > 0 else (0, 'kmh'),
+        'modifier': string_to_direction(step['modifier']),
+        'instruction': step['instruction'],
+      })
+    self._cached_route = {
+      'steps': steps,
+      'total_distance': route['totalDistance'],
+      'total_duration': route['totalDuration'],
+      'geometry': geometry,
+      'cumulative_distances': cumulative_distances,
+      'maxspeed': maxspeed,
+    }
+    self._route_loaded = True
+    return self._cached_route
+
+  def clear_route_cache(self):
+    self._cached_route = None
+    self._route_loaded = False
+    self._no_route = False
+
+  def get_upcoming_turn_from_progress(self, progress, current_lat, current_lon) -> str:
+    if progress and progress['next_turn']:
+      self.coord.latitude = current_lat
+      self.coord.longitude = current_lon
+      distance = self.coord.distance_to(progress['next_turn']['location'])
+      if distance <= 30.0:
+        modifier = progress['next_turn']['modifier']
+        return str(modifier)
+    return 'none'
+
+  @staticmethod
+  def get_current_speed_limit_from_progress(progress, is_metric: bool) -> int:
+    if progress and progress['current_maxspeed']:
+      speed, _ = progress['current_maxspeed']
+      if is_metric:
+        return int(speed)
+      else:
+        return int(round(speed * CV.KPH_TO_MPH))
+    return 0
+
+  @staticmethod
+  def arrived_at_destination(progress) -> bool:
+    if progress['all_maneuvers'][0]['type'] == 'arrive':
+      return True
+    elif progress['all_maneuvers'][0]['instruction'].startswith('Your destination'):
+      return True
+    return False
--- a/sunnypilot/navd/navigation_helpers/tests/init.py
+++ b/sunnypilot/navd/navigation_helpers/tests/init.py
--- a/sunnypilot/navd/navigation_helpers/tests/test_mapbox.py
+++ b/sunnypilot/navd/navigation_helpers/tests/test_mapbox.py
@@ -0,0 +1,94 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import os
+
+from openpilot.common.constants import CV
+
+from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
+from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
+
+
+class TestMapbox:
+  @classmethod
+  def setup_class(cls):
+    cls.mapbox = MapboxIntegration()
+    cls.nav = NavigationInstructions()
+
+    token = os.environ.get('MAPBOX_TOKEN_CI')
+    if token:
+      cls.mapbox.params.put('MapboxToken', token)
+
+    # route setup
+    cls.current_lon, cls.current_lat = -119.17557, 34.23305
+    cls.mapbox.params.put('MapboxRoute', '740 E Ventura Blvd. Camarillo, CA')
+    cls.postvars = {"place_name": cls.mapbox.params.get('MapboxRoute')}
+    cls.postvars, cls.valid_addr = cls.mapbox.set_destination(cls.postvars, cls.current_lon, cls.current_lat)
+    cls.route = cls.nav.get_current_route()
+    cls.progress = cls.nav.get_route_progress(cls.current_lat, cls.current_lon)
+
+  def test_set_destination(self):
+    assert self.valid_addr
+    settings = self.mapbox.params.get('MapboxSettings')
+    assert settings is not None
+    dest_lat = settings['navData']['current']['latitude']
+    dest_lon = settings['navData']['current']['longitude']
+    assert dest_lat == self.postvars["latitude"] and dest_lon == self.postvars["longitude"]
+
+  def test_get_route(self):
+    assert self.route is not None
+    assert 'steps' in self.route
+    assert 'geometry' in self.route
+    assert 'maxspeed' in self.route
+    assert 'total_distance' in self.route
+    assert 'total_duration' in self.route
+    assert len(self.route['steps']) > 0
+    assert len(self.route['geometry']) > 0
+    assert len(self.route['maxspeed']) > 0
+
+    if self.route and 'steps' in self.route:
+      for step in self.route['steps']:
+        assert 'modifier' in step
+
+  def test_upcoming_turn_detection(self):
+    upcoming = self.nav.get_upcoming_turn_from_progress(self.progress, self.current_lat, self.current_lon)
+    assert isinstance(upcoming, str)
+    assert upcoming == 'none'
+
+    if self.route['steps']:
+      turn_lat = self.route['steps'][1]['location'].latitude
+      turn_lon = self.route['steps'][1]['location'].longitude
+      close_lat = turn_lat - 0.00025  # slightly before the turn
+      if self.progress and self.progress.get('next_turn'):
+        expected_turn = self.progress['next_turn']['modifier']
+        upcoming_close = self.nav.get_upcoming_turn_from_progress(self.progress, close_lat, turn_lon)
+        if expected_turn:
+          assert upcoming_close == expected_turn == 'right', "Should be a right turn upcoming"
+
+  def test_route_progress_tracking(self):
+    assert self.progress is not None
+    assert 'distance_from_route' in self.progress
+    assert 'next_turn' in self.progress
+    assert 'current_maxspeed' in self.progress
+    assert 'all_maneuvers' in self.progress
+    assert 'distance_to_end_of_step' in self.progress
+    assert self.progress['distance_from_route'] >= 0
+    assert isinstance(self.progress['all_maneuvers'], list)
+
+  def test_speed_limit_handling(self):
+    speed_limit_metric = self.nav.get_current_speed_limit_from_progress(self.progress, True)
+    speed_limit_imperial = self.nav.get_current_speed_limit_from_progress(self.progress, False)
+    assert isinstance(speed_limit_metric, int)
+    assert isinstance(speed_limit_imperial, int)
+    expected_metric = int(self.progress['current_maxspeed'][0])
+    expected_imperial = int(round(self.progress['current_maxspeed'][0] * CV.KPH_TO_MPH))
+    assert speed_limit_metric == expected_metric
+    assert speed_limit_imperial == expected_imperial
+
+  def test_arrival_detection(self):
+    is_arrived = self.nav.arrived_at_destination(self.progress)
+    assert isinstance(is_arrived, bool)
+    assert not is_arrived
--- a/sunnypilot/navd/navigationd.py
+++ b/sunnypilot/navd/navigationd.py
@@ -0,0 +1,160 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import math
+
+import cereal.messaging as messaging
+from cereal import custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+
+from openpilot.sunnypilot.navd.constants import NAV_CV
+from openpilot.sunnypilot.navd.helpers import Coordinate, parse_banner_instructions
+from openpilot.sunnypilot.navd.navigation_helpers.mapbox_integration import MapboxIntegration
+from openpilot.sunnypilot.navd.navigation_helpers.nav_instructions import NavigationInstructions
+
+
+class Navigationd:
+  def __init__(self):
+    self.params = Params()
+    self.mapbox = MapboxIntegration()
+    self.nav_instructions = NavigationInstructions()
+
+    self.sm = messaging.SubMaster(['liveLocationKalman'])
+    self.pm = messaging.PubMaster(['navigationd'])
+    self.rk = Ratekeeper(3) # 3 Hz
+
+    self.route = None
+    self.destination: str | None = None
+    self.new_destination: str = ''
+
+    self.allow_navigation: bool = False
+    self.recompute_allowed: bool = False
+    self.allow_recompute: bool = False
+    self.reroute_counter: int = 0
+    self.cancel_route_counter: int = 0
+
+    self.frame: int = -1
+    self.last_position: Coordinate | None = None
+    self.last_bearing: float | None = None
+    self.is_metric: bool = False
+    self.valid: bool = False
+
+  def _update_params(self):
+    if self.last_position is not None:
+      self.frame += 1
+      if self.frame % 9 == 0:
+        self.allow_navigation = self.params.get('AllowNavigation', return_default=True)
+        self.is_metric = self.params.get('IsMetric', return_default=True)
+        self.new_destination = self.params.get('MapboxRoute')
+        self.recompute_allowed = self.params.get('MapboxRecompute', return_default=True)
+
+      self.allow_recompute: bool = (self.new_destination != self.destination and self.new_destination != '') or (
+        self.recompute_allowed and self.reroute_counter > 9 and self.route
+      )
+
+      if self.allow_recompute:
+        postvars = {'place_name': self.new_destination}
+        postvars, valid_addr = self.mapbox.set_destination(postvars, self.last_position.longitude, self.last_position.latitude, self.last_bearing)
+        cloudlog.debug(f'Set new destination to: {self.new_destination}, valid: {valid_addr}')
+        if valid_addr:
+          self.destination = self.new_destination
+          self.nav_instructions.clear_route_cache()
+          self.route = self.nav_instructions.get_current_route()
+          self.cancel_route_counter = 0
+          self.reroute_counter = 0
+
+      if self.cancel_route_counter == 30:
+        self.cancel_route_counter = 0
+        self.destination = None
+        self.nav_instructions.clear_route_cache()
+        self.route = None
+
+      self.valid = self.route is not None
+
+  def _update_navigation(self) -> tuple[str, dict | None, dict]:
+    banner_instructions: str = ''
+    nav_data: dict = {}
+    if self.allow_navigation and self.last_position is not None:
+      if progress := self.nav_instructions.get_route_progress(self.last_position.latitude, self.last_position.longitude):
+        nav_data['upcoming_turn'] = self.nav_instructions.get_upcoming_turn_from_progress(progress, self.last_position.latitude, self.last_position.longitude)
+        nav_data['current_speed_limit'] = self.nav_instructions.get_current_speed_limit_from_progress(progress, self.is_metric)
+        arrived = self.nav_instructions.arrived_at_destination(progress)
+
+        if progress['current_step']:
+          parsed = parse_banner_instructions(progress['current_step']['bannerInstructions'], progress['distance_to_end_of_step'])
+          if parsed:
+            banner_instructions = parsed['maneuverPrimaryText']
+
+        nav_data['distance_from_route'] = progress['distance_from_route']
+        large_distance = progress['distance_from_route'] > 100
+
+        if large_distance:
+          self.cancel_route_counter = self.cancel_route_counter + 1 if progress['distance_from_route'] > NAV_CV.QUARTER_MILE else 0
+          if self.recompute_allowed:
+            self.reroute_counter += 1
+        elif arrived:
+          self.cancel_route_counter += 1
+        else:
+          self.cancel_route_counter = 0
+          self.reroute_counter = 0
+
+        # Don't recompute in last segment to prevent reroute loops
+        if self.route:
+          if progress['current_step_idx'] == len(self.route['steps']) - 1:
+            self.allow_recompute = False
+    else:
+      banner_instructions = ''
+      progress = None
+      nav_data = {}
+      self.valid = False
+
+    return banner_instructions, progress, nav_data
+
+  def _build_navigation_message(self, banner_instructions: str, progress: dict | None, nav_data: dict, valid: bool):
+    msg = messaging.new_message('navigationd')
+    msg.valid = valid
+    msg.navigationd.upcomingTurn = nav_data.get('upcoming_turn', 'none')
+    msg.navigationd.currentSpeedLimit = nav_data.get('current_speed_limit', 0)
+    msg.navigationd.bannerInstructions = banner_instructions
+    msg.navigationd.distanceFromRoute = nav_data.get('distance_from_route', 0.0)
+    msg.navigationd.valid = self.valid
+
+    all_maneuvers = (
+      [custom.Navigationd.Maneuver.new_message(distance=m['distance'], type=m['type'], modifier=m['modifier'],
+                                               instruction=m['instruction']) for m in progress['all_maneuvers']]
+      if progress
+      else []
+    )
+    msg.navigationd.allManeuvers = all_maneuvers
+
+    return msg
+
+  def run(self):
+    cloudlog.warning('navigationd init')
+
+    while True:
+      self.sm.update()
+      location = self.sm['liveLocationKalman']
+      localizer_valid = location.positionGeodetic.valid if location else False
+
+      if localizer_valid:
+        self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
+        self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+
+      self._update_params()
+      banner_instructions, progress, nav_data = self._update_navigation()
+
+      msg = self._build_navigation_message(banner_instructions, progress, nav_data, valid=localizer_valid)
+
+      self.pm.send('navigationd', msg)
+      self.rk.keep_time()
+
+
+def main():
+  nav = Navigationd()
+  nav.run()
--- a/sunnypilot/navd/tests/init.py
+++ b/sunnypilot/navd/tests/init.py
--- a/sunnypilot/navd/tests/test_navigationd.py
+++ b/sunnypilot/navd/tests/test_navigationd.py
@@ -0,0 +1,76 @@
+"""
+Copyright (c) 2021-, James Vecellio, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import platform
+import pytest
+
+import cereal.messaging as messaging
+
+from openpilot.sunnypilot.navd.navigationd import Navigationd
+from openpilot.sunnypilot.navd.helpers import Coordinate
+
+
+class TestNavigationd:
+  is_darwin = platform.system() == "Darwin"
+
+  @pytest.fixture(autouse=True)
+  def setup_method(self, mocker):
+    if self.is_darwin:
+      mocker.patch('cereal.messaging.SubMaster')
+      mocker.patch('cereal.messaging.PubMaster')
+
+  def test_update_params(self):
+    nav = Navigationd()
+    nav.last_position = None
+    nav._update_params()
+    assert nav.frame == -1
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav._update_params()
+    assert nav.frame == 0  # frame only updates when last position is set
+
+  def test_update_navigation_no_position(self):
+    nav = Navigationd()
+    nav.last_position = None
+    banner, progress, nav_data = nav._update_navigation()
+    assert banner == ''
+    assert progress is None
+    assert nav_data == {}
+
+  def test_update_navigation(self):
+    nav = Navigationd()
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav.route = {'580 Winchester dr, oxnard, CA': True}
+    banner, progress, nav_data = nav._update_navigation()
+    assert isinstance(banner, str)
+    assert not progress  # no route was actually set
+    assert isinstance(nav_data, dict)
+
+  def test_build_navigation_message(self):
+    if self.is_darwin:
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {}, True)
+      assert msg.navigationd.bannerInstructions == ''
+      assert msg.navigationd.valid is False
+    else:
+      sm = messaging.SubMaster(['navigationd'])
+      nav = Navigationd()
+      msg = nav._build_navigation_message('', None, {}, True)
+
+      nav.pm.send('navigationd', msg)
+      sm.update()
+      received_msg = sm['navigationd']
+
+      assert received_msg.bannerInstructions == msg.navigationd.bannerInstructions
+      assert received_msg.valid == msg.navigationd.valid
+
+  def test_cancel_route(self):
+    nav = Navigationd()
+    nav.last_position = Coordinate(latitude=37.0, longitude=128.0)
+    nav.route = {'580 Winchester dr, oxnard, CA': True}
+    nav.cancel_route_counter = 30
+    nav._update_params()
+    assert nav.route is None
+    assert nav.destination is None
--- a/sunnypilot/selfdrive/assets/navigation/direction_arrive.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_arrive.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_arrive_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_arrive_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_arrive_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_arrive_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_arrive_straight.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_arrive_straight.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_close.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_close.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_continue.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_continue.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_continue_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_continue_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_continue_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_continue_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_continue_slight_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_continue_slight_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_continue_slight_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_continue_slight_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_continue_straight.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_continue_straight.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_continue_uturn.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_continue_uturn.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_depart.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_depart.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_depart_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_depart_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_depart_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_depart_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_depart_straight.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_depart_straight.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_end_of_road_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_end_of_road_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_end_of_road_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_end_of_road_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_flag.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_flag.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_fork.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_fork.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_fork_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_fork_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_fork_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_fork_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_fork_slight_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_fork_slight_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_fork_slight_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_fork_slight_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_fork_straight.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_fork_straight.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_invalid.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_invalid.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_invalid_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_invalid_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_invalid_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_invalid_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_invalid_slight_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_invalid_slight_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_invalid_slight_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_invalid_slight_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_invalid_straight.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_invalid_straight.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_invalid_uturn.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_invalid_uturn.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_merge_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_merge_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_merge_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_merge_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_merge_slight_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_merge_slight_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_merge_slight_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_merge_slight_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_merge_straight.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_merge_straight.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_new_name_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_new_name_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_new_name_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_new_name_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_new_name_sharp_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_new_name_sharp_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_new_name_sharp_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_new_name_sharp_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_new_name_slight_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_new_name_slight_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_new_name_slight_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_new_name_slight_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_new_name_straight.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_new_name_straight.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_notificaiton_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_notificaiton_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_notificaiton_sharp_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_notificaiton_sharp_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_notification_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_notification_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_notification_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_notification_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_notification_sharp_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_notification_sharp_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_notification_slight_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_notification_slight_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_notification_slight_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_notification_slight_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_notification_straight.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_notification_straight.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_off_ramp_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_off_ramp_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_off_ramp_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_off_ramp_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_off_ramp_slight_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_off_ramp_slight_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_off_ramp_slight_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_off_ramp_slight_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_sharp_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_sharp_left.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_sharp_right.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_sharp_right.png
--- a/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_slight_left.png
+++ b/sunnypilot/selfdrive/assets/navigation/direction_on_ramp_slight_left.png
--- a/Show More
+++ b/Show More