        nav_enabled = true;
      } else if (nav_enabled && !use_nav) {
        memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN);
        nav_enabled = false;
      }
  
      if (nav_enabled && sm.updated("navModel")) {
        auto nav_model_features = sm["navModel"].getNavModel().getFeatures();
 
</s> remove     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);
 </s> add     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); </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) { </s> remove     instruction.maneuverType = p['type']
 </s> add     instruction['maneuverType'] = p['type']
      memset(nav_instructions, 0, sizeof(float)*NAV_INSTRUCTION_LEN);
        nav_enabled = true;
      } else if (nav_enabled && !use_nav) {
        memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN);
      memset(nav_instructions, 0, sizeof(float)*NAV_INSTRUCTION_LEN);
        nav_enabled = false;
      }
  
      if (nav_enabled && sm.updated("navModel")) {
        auto nav_model_features = sm["navModel"].getNavModel().getFeatures();
keep 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/modeld.cc