diff --git a/common/params_keys.h b/common/params_keys.h
index 13c8a9c7b..ef21c0663 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -128,4 +128,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"dp_device_model_list", PERSISTENT},
     {"dp_lat_lca_speed", PERSISTENT},
     {"dp_lat_lca_auto_sec", PERSISTENT},
+    {"dp_device_go_off_road", CLEAR_ON_MANAGER_START},
 };
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index b8277e0ae..baeca21ce 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -92,6 +92,7 @@ private:
   QLabel *onroadLbl;
   LabelControl *versionLbl;
   ButtonControl *installBtn;
+  ButtonControl *onOffRoadBtn;
   ButtonControl *downloadBtn;
   ButtonControl *targetBranchBtn;
 
diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index 43358ad72..e2a333068 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -29,6 +29,16 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   versionLbl = new LabelControl(tr("Current Version"), "");
   addItem(versionLbl);
 
+  // on/off road mode switch
+  onOffRoadBtn = new ButtonControl(tr("Onroad/Offroad Mode"), tr("Go Offroad"));
+  connect(onOffRoadBtn, &ButtonControl::clicked, [&]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to switch mode?"), tr("CONFIRM"), this)) {
+      bool val = params.getBool("dp_device_go_off_road");
+      params.putBool("dp_device_go_off_road", !val);
+    }
+  });
+  addItem(onOffRoadBtn);
+
   // download update btn
   downloadBtn = new ButtonControl(tr("Download"), tr("CHECK"));
   connect(downloadBtn, &ButtonControl::clicked, [=]() {
@@ -111,6 +121,7 @@ void SoftwarePanel::updateLabels() {
   fs_watch->addParam("UpdateFailedCount");
   fs_watch->addParam("UpdaterState");
   fs_watch->addParam("UpdateAvailable");
+  fs_watch->addParam("dp_device_go_off_road");
 
   if (!isVisible()) {
     return;
@@ -120,6 +131,13 @@ void SoftwarePanel::updateLabels() {
   onroadLbl->setVisible(is_onroad);
   downloadBtn->setVisible(!is_onroad);
 
+  // on/off road text change
+  if (params.getBool("dp_device_go_off_road")) {
+    onOffRoadBtn->setText(tr("Go Onroad"));
+  } else {
+    onOffRoadBtn->setText(tr("Go Offroad"));
+  }
+
   // download update
   QString updater_state = QString::fromStdString(params.get("UpdaterState"));
   bool failed = std::atoi(params.get("UpdateFailedCount").c_str()) > 0;
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 9a1e00289..1dc8fb579 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -204,6 +204,8 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   fan_controller = None
 
+  dp_device_go_off_road = False
+
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
@@ -333,7 +335,9 @@ def hardware_thread(end_event, hw_queue) -> None:
             pass
 
     # Handle offroad/onroad transition
-    should_start = all(onroad_conditions.values())
+    if count % 6 == 0:
+      dp_device_go_off_road = params.get_bool("dp_device_go_off_road")
+    should_start = not dp_device_go_off_road and all(onroad_conditions.values())
     if started_ts is None:
       should_start = should_start and all(startup_conditions.values())