  
  void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) {
    // messaging
    PubMaster pm({"modelV2", "cameraOdometry"});
    SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel"});
  
    Params params;
    PublishState ps = {};
  
    // setup filter to track dropped frames
 
</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 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) {
  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"});
  
  void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) {
    // messaging
    PubMaster pm({"modelV2", "cameraOdometry"});
  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"});
  
    Params params;
    PublishState ps = {};
  
    // setup filter to track dropped frames
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