  #ifdef NAV
    float nav_features[NAV_FEATURE_LEN] = {};
  #endif
  };
  
  struct PublishState {
    std::array<float, DISENGAGE_LEN * DISENGAGE_LEN> disengage_buffer = {};
 
</s> remove   SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel"});
 </s> add   SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"}); </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);
  float nav_instructions[NAV_INSTRUCTION_LEN] = {};
  #ifdef NAV
    float nav_features[NAV_FEATURE_LEN] = {};
  float nav_instructions[NAV_INSTRUCTION_LEN] = {};
  #endif
  };
  
  struct PublishState {
    std::array<float, DISENGAGE_LEN * DISENGAGE_LEN> disengage_buffer = {};
keep add 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/models/driving.h