diff --git a/common/params.cc b/common/params.cc
index 37de56a..41b7a23 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -304,6 +304,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RoadEdgesWidth", PERSISTENT},
     {"RoadName", PERSISTENT},
     {"RoadNameUI", PERSISTENT},
+    {"RotatingWheel", PERSISTENT},
     {"SchedulePending", PERSISTENT},
     {"ScreenBrightness", PERSISTENT},
     {"SearchInput", PERSISTENT},
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_rotate.png b/selfdrive/frogpilot/assets/toggle_icons/icon_rotate.png
new file mode 100644
index 0000000..1503308
Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_rotate.png differ
diff --git a/selfdrive/frogpilot/ui/visual_settings.cc b/selfdrive/frogpilot/ui/visual_settings.cc
index 240a964..ba4fb27 100644
--- a/selfdrive/frogpilot/ui/visual_settings.cc
+++ b/selfdrive/frogpilot/ui/visual_settings.cc
@@ -106,8 +106,8 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
       toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 101, brightnessLabels, this, false);
 
     } else if (param == "WheelIcon") {
-      std::vector<QString> wheelToggles{};
-      std::vector<QString> wheelToggleNames{};
+      std::vector<QString> wheelToggles{"RotatingWheel"};
+      std::vector<QString> wheelToggleNames{tr("Rotating")};
       std::map<int, QString> steeringWheelLabels = {{0, "Stock"}, {1, "Lexus"}, {2, "Toyota"}, {3, "Frog"}, {4, "Rocket"}, {5, "Hyundai"}, {6, "Stalin"}};
       toggle = new FrogPilotParamValueToggleControl(param, title, desc, icon, 0, 6, steeringWheelLabels, this, true, "", 1, wheelToggles, wheelToggleNames);
 
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index b4c1fe5..ce5aeda 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -29,6 +29,21 @@ static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, cons
   p.setOpacity(1.0);
 }
 
+static void drawIconRotate(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity, const int angle) {
+  p.setRenderHint(QPainter::Antialiasing);
+  p.setOpacity(1.0);  // bg dictates opacity of ellipse
+  p.setPen(Qt::NoPen);
+  p.setBrush(bg);
+  p.drawEllipse(center, btn_size / 2, btn_size / 2);
+  p.save();
+  p.translate(center);
+  p.rotate(-angle);
+  p.setOpacity(opacity);
+  p.drawPixmap(-QPoint(img.width() / 2, img.height() / 2), img);
+  p.setOpacity(1.0);
+  p.restore();
+}
+
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent), scene(uiState()->scene) {
   QVBoxLayout *main_layout  = new QVBoxLayout(this);
   main_layout->setMargin(UI_BORDER_SIZE);
@@ -370,9 +385,16 @@ void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
   }
 
   // FrogPilot variables
+  rotatingWheel = scene.rotating_wheel;
   wheelIcon = scene.wheel_icon;
 
   y_offset = leadInfo ? 10 : 0;
+
+  // Update the icon so the steering wheel rotates in real time
+  if (rotatingWheel && steeringAngleDeg != scene.steering_angle_deg) {
+    steeringAngleDeg = scene.steering_angle_deg;
+    update();
+  }
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
@@ -389,7 +411,11 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
       QColor(0, 0, 0, 166));
 
   if (!scene.show_driver_camera) {
-    drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);
+    if (rotatingWheel) {
+      drawIconRotate(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0, steeringAngleDeg);
+    } else {
+      drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || (!engageable && !scene.always_on_lateral_active)) ? 0.6 : 1.0);
+    }
   }
 }
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index f285914..b456e44 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -83,6 +83,8 @@ private:
 
   std::map<int, QPixmap> wheelImages;
 
+  bool rotatingWheel;
+  int steeringAngleDeg;
   int wheelIcon;
   int y_offset;
 };
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index e63c9ae..37adbbb 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -222,6 +222,9 @@ static void update_state(UIState *s) {
       scene.turn_signal_left = carState.getLeftBlinker();
       scene.turn_signal_right = carState.getRightBlinker();
     }
+    if (scene.rotating_wheel) {
+      scene.steering_angle_deg = carState.getSteeringAngleDeg();
+    }
     if (scene.driver_camera) {
       scene.show_driver_camera = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
     }
@@ -316,6 +319,7 @@ void ui_update_params(UIState *s) {
   scene.driver_camera = params.getBool("DriverCamera");
   scene.experimental_mode_via_press = params.getBool("ExperimentalModeViaPress");
   scene.mute_dm = params.getBool("FireTheBabysitter") && params.getBool("MuteDM");
+  scene.rotating_wheel = params.getBool("RotatingWheel");
   scene.screen_brightness = params.getInt("ScreenBrightness");
   scene.wheel_icon = params.getInt("WheelIcon");
 }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 7a3b3bc..2c91907 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -190,6 +190,7 @@ typedef struct UIScene {
   bool model_ui;
   bool mute_dm;
   bool road_name_ui;
+  bool rotating_wheel;
   bool show_driver_camera;
   bool show_fps;
   bool tethering_enabled;
@@ -215,6 +216,7 @@ typedef struct UIScene {
   int obstacle_distance;
   int obstacle_distance_stock;
   int screen_brightness;
+  int steering_angle_deg;
   int stopped_equivalence;
   int wheel_icon;
   QPolygonF track_adjacent_vertices[6];