        LOGE("skipping model eval. Dropped %d frames", vipc_dropped_frames);
      }
  
      double mt1 = millis_since_boot();
      ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, prepare_only);
      double mt2 = millis_since_boot();
      float model_execution_time = (mt2 - mt1) / 1000.0;
  
      if (model_output != nullptr) {
        model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, model, ps, meta_main.timestamp_eof, timestamp_llk, model_execution_time,
 
</s> remove ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide,
                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only);
 </s> add ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, const mat3 &transform, const mat3 &transform_wide,
                              float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only); </s> remove     parse_banner_instructions(msg.navInstruction, banner_step['bannerInstructions'], distance_to_maneuver_along_geometry)
 </s> add     instruction = parse_banner_instructions(banner_step['bannerInstructions'], distance_to_maneuver_along_geometry)
    if instruction is not None:
      for k,v in instruction.items():
        setattr(msg.navInstruction, k, v)

    # All instructions
    maneuvers = []
    for i, step_i in enumerate(self.route):
      if i < self.step_idx:
        distance_to_maneuver = -sum(self.route[j]['distance'] for j in range(i+1, self.step_idx)) - along_geometry
      elif i == self.step_idx:
        distance_to_maneuver = distance_to_maneuver_along_geometry
      else:
        distance_to_maneuver = distance_to_maneuver_along_geometry + sum(self.route[j]['distance'] for j in range(self.step_idx+1, i+1))

      instruction = parse_banner_instructions(step_i['bannerInstructions'], distance_to_maneuver)
      if instruction is None:
        continue
      maneuver = {'distance': distance_to_maneuver}
      if 'maneuverType' in instruction:
        maneuver['type'] = instruction['maneuverType']
      if 'maneuverModifier' in instruction:
        maneuver['modifier'] = instruction['maneuverModifier']
      maneuvers.append(maneuver)

    msg.navInstruction.allManeuvers = maneuvers </s> remove ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only) {
 </s> add ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, const mat3 &transform, const mat3 &transform_wide,
                              float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only) {
    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, nav_instructions, prepare_only);
        LOGE("skipping model eval. Dropped %d frames", vipc_dropped_frames);
      }
  
      double mt1 = millis_since_boot();
    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, nav_instructions, prepare_only);
      double mt2 = millis_since_boot();
      float model_execution_time = (mt2 - mt1) / 1000.0;
  
      if (model_output != nullptr) {
        model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, model, ps, meta_main.timestamp_eof, timestamp_llk, model_execution_time,
keep keep keep keep replace keep keep keep keep keep
 Non-Inflatable Model :balloon:  (#29003)

* Added all maneuvers to navInstruction message

* Added nav instruction logic to modeld

* New model: fcee01c1-96bb-414f-b00d-e4a994a00922/700

* Fixed bug in navd

* Added sharp/slight modifiers

* Updated refs 
selfdrive/modeld/modeld.cc