diff --git a/ExoMy_Software-master/gui/app.css b/ExoMy_Software-master/gui/app.css
index 001cb83..1ee71b2 100644
--- a/ExoMy_Software-master/gui/app.css
+++ b/ExoMy_Software-master/gui/app.css
@@ -319,7 +319,68 @@ header {
 .c-tr { top: calc(13px * var(--cam-scale)); right: calc(13px * var(--cam-scale)); text-align: right; }
 .c-bl { bottom: calc(13px * var(--cam-scale)); left: calc(13px * var(--cam-scale)); }
 .c-br { bottom: calc(13px * var(--cam-scale)); right: calc(13px * var(--cam-scale)); text-align: right; }
+.c-bm {
+  position: absolute;
+  left: 50%;
+  bottom: calc(13px * var(--cam-scale));
+  transform: translateX(-50%);
+  display: flex;
+  align-items: center;
+  gap: calc(8px * var(--cam-scale));
+  z-index: 10;
+  pointer-events: none;
+}
+.c-bm-box {
+  display: flex;
+  align-items: baseline;
+  gap: calc(5px * var(--cam-scale));
+  padding: calc(6px * var(--cam-scale)) calc(10px * var(--cam-scale));
+  background: rgba(3, 10, 14, .72);
+  border: 1px solid rgba(0,255,145,.18);
+  box-shadow: inset 0 0 12px rgba(0,255,145,.04), 0 0 16px rgba(0,0,0,.18);
+  backdrop-filter: blur(2px);
+}
+.c-bm-lbl,
+.c-bm-unit {
+  font-size: calc(8px * var(--cam-scale));
+  color: rgba(0,255,145,.72);
+  letter-spacing: calc(1.2px * var(--cam-scale));
+  text-transform: uppercase;
+}
+.c-bm-box strong {
+  font-size: calc(14px * var(--cam-scale));
+  line-height: 1;
+  color: rgba(245,255,250,.98);
+  letter-spacing: calc(1px * var(--cam-scale));
+}
 /* ── STAT PANEL ─────────────────────────────────────── */
+.c-track {
+  position: absolute;
+  inset: 0;
+  width: 100%;
+  height: 100%;
+  z-index: 9;
+  pointer-events: none;
+  opacity: .92;
+  transition: opacity .18s ease;
+  filter: drop-shadow(0 0 8px rgba(0,255,145,.18));
+}
+.track-edge,
+.track-center {
+  fill: none;
+  stroke-linecap: round;
+  stroke-linejoin: round;
+}
+.track-edge {
+  stroke: rgba(170,255,225,.88);
+  stroke-width: 1.35;
+  stroke-dasharray: 6 5;
+}
+.track-center {
+  stroke: rgba(0,255,145,.38);
+  stroke-width: .9;
+  stroke-dasharray: 3 6;
+}
 .stat-list {
   display: flex;
   flex-direction: column;
diff --git a/ExoMy_Software-master/gui/index.html b/ExoMy_Software-master/gui/index.html
index a022098..628ec47 100644
--- a/ExoMy_Software-master/gui/index.html
+++ b/ExoMy_Software-master/gui/index.html
@@ -83,6 +83,11 @@
             <span class="c-bm-unit">m</span>
           </div>
         </div>
+        <svg class="c-track" id="track-overlay" viewBox="0 0 100 100" preserveAspectRatio="none" aria-hidden="true">
+          <path id="track-center" class="track-center" d=""></path>
+          <path id="track-left" class="track-edge" d=""></path>
+          <path id="track-right" class="track-edge" d=""></path>
+        </svg>
         <div class="c-xhair">
           <svg viewBox="-90 -90 180 180" xmlns="http://www.w3.org/2000/svg" width="180" height="180">
             <!-- äußerer rotierender Strichelring -->
@@ -274,6 +279,7 @@ var hostUrl = window.location.hostname;
 var ros = null;
 var joyListener = null;
 var roverCommandListener = null;
+var motorCommandsListener = null;
 var publishTimer = null;
 var statusTimer = null;
 var axes = [0, 0, 0, 0, 0, 0];
@@ -283,6 +289,23 @@ var motorsEnabled = true;
 var inputMode = "joystick";
 var metBase = Date.now();
 var dragging = false;
+var REQUIRED_CALIBRATION_POINTS = [0, 20, 30, 40, 50, 60, 80, 100];
+var driveEstimator = {
+  drivePwmNeutralAverage: 307,
+  drivePwmRange: 100,
+  pwmFrequencyHz: 50,
+  speedMps: 0,
+  distanceM: 0,
+  lastTickMs: Date.now(),
+  motorsEnabled: false,
+  locomotionMode: 1,
+  motorSpeeds: [0, 0, 0, 0, 0, 0],
+  calibrationPoints: []
+};
+var trajectoryOverlay = {
+  steering: 90,
+  velocity: 0
+};
 
 function setText(id, text) {
   var el = document.getElementById(id);
@@ -291,6 +314,241 @@ function setText(id, text) {
   }
 }
 
+function formatNumber(value, digits) {
+  return Number(value || 0).toLocaleString("de-DE", {
+    minimumFractionDigits: digits,
+    maximumFractionDigits: digits
+  });
+}
+
+function formatSpeedCms(speedMps, digits) {
+  return formatNumber(Number(speedMps || 0) * 100, digits);
+}
+
+function cloneCalibrationPoints(points) {
+  return (points || []).map(function (item) {
+    return {
+      percent: Number(item.percent),
+      speed_mps: Number(item.speed_mps)
+    };
+  });
+}
+
+function normalizeCalibrationPoints(points) {
+  var source = cloneCalibrationPoints(points).sort(function (a, b) {
+    return a.percent - b.percent;
+  });
+  if (!source.length) {
+    source = [{ percent: 0, speed_mps: 0 }];
+  }
+
+  return REQUIRED_CALIBRATION_POINTS.map(function (targetPercent) {
+    var exact = source.find(function (point) {
+      return Number(point.percent) === Number(targetPercent);
+    });
+    if (exact) {
+      return {
+        percent: targetPercent,
+        speed_mps: Number(exact.speed_mps || 0)
+      };
+    }
+
+    var lower = null;
+    var upper = null;
+    source.forEach(function (point) {
+      if (point.percent < targetPercent) lower = point;
+      if (!upper && point.percent > targetPercent) upper = point;
+    });
+
+    if (!lower && upper) {
+      return {
+        percent: targetPercent,
+        speed_mps: Number(upper.speed_mps || 0)
+      };
+    }
+    if (lower && !upper) {
+      return {
+        percent: targetPercent,
+        speed_mps: Number(lower.speed_mps || 0)
+      };
+    }
+    if (lower && upper) {
+      var span = Number(upper.percent) - Number(lower.percent);
+      var ratio = span <= 0 ? 0 : (targetPercent - Number(lower.percent)) / span;
+      return {
+        percent: targetPercent,
+        speed_mps: Number(lower.speed_mps || 0) + (Number(upper.speed_mps || 0) - Number(lower.speed_mps || 0)) * ratio
+      };
+    }
+
+    return {
+      percent: targetPercent,
+      speed_mps: 0
+    };
+  });
+}
+
+function interpolateCalibrationSpeed(percentMagnitude) {
+  var points = driveEstimator.calibrationPoints;
+  if (!points || !points.length) return 0;
+  var p = Math.max(0, Math.min(100, Math.abs(percentMagnitude)));
+  if (p <= points[0].percent) return Number(points[0].speed_mps || 0);
+  for (var i = 1; i < points.length; i += 1) {
+    var left = points[i - 1];
+    var right = points[i];
+    if (p <= right.percent) {
+      var span = right.percent - left.percent;
+      if (span <= 0) return Number(right.speed_mps || 0);
+      var ratio = (p - left.percent) / span;
+      return Number(left.speed_mps || 0) + (Number(right.speed_mps || 0) - Number(left.speed_mps || 0)) * ratio;
+    }
+  }
+  return Number(points[points.length - 1].speed_mps || 0);
+}
+
+function getAverageMotorSpeedPercent() {
+  if (!driveEstimator.motorSpeeds || !driveEstimator.motorSpeeds.length) return 0;
+  var sum = 0;
+  var count = 0;
+  driveEstimator.motorSpeeds.forEach(function (value) {
+    if (typeof value === "number" && !isNaN(value)) {
+      sum += value;
+      count += 1;
+    }
+  });
+  return count ? (sum / count) : 0;
+}
+
+function isTranslationMode() {
+  return driveEstimator.locomotionMode !== 2;
+}
+
+function updateDriveEstimatorModel() {
+  var nowMs = Date.now();
+  var dt = Math.max(0, (nowMs - driveEstimator.lastTickMs) / 1000.0);
+  driveEstimator.lastTickMs = nowMs;
+
+  var avgSpeedPercent = getAverageMotorSpeedPercent();
+  var direction = avgSpeedPercent > 0 ? 1 : (avgSpeedPercent < 0 ? -1 : 0);
+  var speedMagnitude = isTranslationMode() && driveEstimator.motorsEnabled
+    ? interpolateCalibrationSpeed(avgSpeedPercent)
+    : 0;
+  var speedMps = direction === 0 ? 0 : speedMagnitude * direction;
+
+  if (Math.abs(speedMps) < 0.0005) speedMps = 0;
+  if (dt > 0 && dt < 2.5) driveEstimator.distanceM += Math.abs(speedMps) * dt;
+  driveEstimator.speedMps = speedMps;
+}
+
+function renderDriveEstimatorOverlay() {
+  updateDriveEstimatorModel();
+  setText("overlay-speed", formatSpeedCms(driveEstimator.speedMps, 1));
+  setText("overlay-distance", formatNumber(driveEstimator.distanceM, 2));
+}
+
+function setPath(id, d) {
+  var node = document.getElementById(id);
+  if (node) node.setAttribute("d", d || "");
+}
+
+function renderTrajectoryOverlay() {
+  var overlay = document.getElementById("track-overlay");
+  if (!overlay) return;
+
+  var moving = driveEstimator.motorsEnabled && Math.abs(driveEstimator.speedMps) > 0.005;
+  overlay.style.opacity = moving ? "1" : "0.22";
+  var baseX = 50;
+  var baseY = 92;
+  var laneHalf = 9;
+  var topY = 18;
+  var leftStart = baseX - laneHalf;
+  var rightStart = baseX + laneHalf;
+
+  if (!moving) {
+    setPath("track-center", "M " + baseX + " " + baseY + " L " + baseX + " " + topY);
+    setPath("track-left", "M " + leftStart + " " + baseY + " L " + leftStart + " " + topY);
+    setPath("track-right", "M " + rightStart + " " + baseY + " L " + rightStart + " " + topY);
+    return;
+  }
+
+  var mode = driveEstimator.locomotionMode;
+  var steering = Number(trajectoryOverlay.steering || 90);
+  var direction = driveEstimator.speedMps < -0.005 ? -1 : 1;
+
+  if (mode === 3) {
+    var crabOffset = Math.max(-24, Math.min(24, (steering >= 0 ? steering - 90 : steering + 90) * 0.26));
+    setPath("track-center", "M " + baseX + " " + baseY + " L " + (baseX + crabOffset) + " " + topY);
+    setPath("track-left", "M " + (baseX - laneHalf) + " " + baseY + " L " + (baseX - laneHalf + crabOffset) + " " + topY);
+    setPath("track-right", "M " + (baseX + laneHalf) + " " + baseY + " L " + (baseX + laneHalf + crabOffset) + " " + topY);
+    return;
+  }
+
+  if (mode === 2) {
+    var pointTurnRight = steering > 95 || steering < -95;
+    var sweep = pointTurnRight ? 1 : 0;
+    var radiusOuter = 34;
+    var radiusInner = 20;
+    var centerX = pointTurnRight ? 78 : 22;
+    var startLeftX = pointTurnRight ? 40 : 24;
+    var startRightX = pointTurnRight ? 58 : 42;
+    setPath("track-center", "M " + baseX + " " + baseY + " A 27 27 0 0 " + sweep + " " + centerX + " 42");
+    setPath("track-left", "M " + startLeftX + " " + baseY + " A " + radiusOuter + " " + radiusOuter + " 0 0 " + sweep + " " + centerX + " 18");
+    setPath("track-right", "M " + startRightX + " " + baseY + " A " + radiusInner + " " + radiusInner + " 0 0 " + sweep + " " + centerX + " 34");
+    return;
+  }
+
+  var normalizedTurn;
+  if (steering > 90) {
+    normalizedTurn = Math.min(1, (steering - 90) / 90);
+  } else {
+    normalizedTurn = -Math.min(1, (90 - steering) / 90);
+  }
+  normalizedTurn *= direction;
+
+  var endX = baseX + normalizedTurn * 26;
+  var controlY = 58;
+  var controlBias = normalizedTurn * 18;
+  var centerPath = "M " + baseX + " " + baseY + " Q " + (baseX + controlBias * 0.6) + " " + controlY + " " + endX + " " + topY;
+  var leftPath = "M " + leftStart + " " + baseY + " Q " + (leftStart + controlBias) + " " + controlY + " " + (endX - laneHalf) + " " + topY;
+  var rightPath = "M " + rightStart + " " + baseY + " Q " + (rightStart + controlBias) + " " + controlY + " " + (endX + laneHalf) + " " + topY;
+
+  if (Math.abs(normalizedTurn) < 0.04) {
+    centerPath = "M " + baseX + " " + baseY + " L " + baseX + " " + topY;
+    leftPath = "M " + leftStart + " " + baseY + " L " + leftStart + " " + topY;
+    rightPath = "M " + rightStart + " " + baseY + " L " + rightStart + " " + topY;
+  }
+
+  setPath("track-center", centerPath);
+  setPath("track-left", leftPath);
+  setPath("track-right", rightPath);
+}
+
+function fetchDriveEstimatorData() {
+  fetch(window.location.protocol + "//" + hostUrl + ":8082/api/drive-estimator/config", {
+    cache: "no-store"
+  }).then(function (response) {
+    if (!response.ok) throw new Error("config");
+    return response.json();
+  }).then(function (payload) {
+    var estimator = payload.estimator || {};
+    driveEstimator.drivePwmNeutralAverage = Number(estimator.drive_pwm_neutral_average || driveEstimator.drivePwmNeutralAverage);
+    driveEstimator.drivePwmRange = Number(estimator.drive_pwm_range || driveEstimator.drivePwmRange);
+    driveEstimator.pwmFrequencyHz = Number(estimator.pwm_frequency_hz || driveEstimator.pwmFrequencyHz);
+  }).catch(function () {});
+
+  fetch(window.location.protocol + "//" + hostUrl + ":8082/api/drive-estimator/calibration", {
+    cache: "no-store"
+  }).then(function (response) {
+    if (!response.ok) throw new Error("calibration");
+    return response.json();
+  }).then(function (payload) {
+    var calibration = payload.calibration || {};
+    var points = Array.isArray(calibration.points) ? calibration.points : [];
+    driveEstimator.calibrationPoints = normalizeCalibrationPoints(points);
+    renderDriveEstimatorOverlay();
+  }).catch(function () {});
+}
+
 function formatAxis(value) {
   return (value >= 0 ? "+" : "") + value.toFixed(2);
 }
@@ -677,7 +935,12 @@ window.addEventListener("load", function () {
   updateClocks();
   window.setInterval(updateClocks, 1000);
   fetchSystemStatus();
+  fetchDriveEstimatorData();
+  renderDriveEstimatorOverlay();
+  renderTrajectoryOverlay();
   statusTimer = window.setInterval(fetchSystemStatus, 5000);
+  window.setInterval(renderDriveEstimatorOverlay, 250);
+  window.setInterval(renderTrajectoryOverlay, 250);
 
   var video = document.getElementById("video_output");
   video.src = "//" + hostUrl + ":8083/stream.mjpg";
@@ -745,7 +1008,24 @@ window.addEventListener("load", function () {
   roverCommandListener.subscribe(function (message) {
     applyDriveMode(locomotionModeToUi(message.locomotion_mode), true);
     motorsEnabled = !!message.motors_enabled;
+    driveEstimator.motorsEnabled = !!message.motors_enabled;
+    driveEstimator.locomotionMode = Number(message.locomotion_mode);
+    trajectoryOverlay.steering = Number(message.steering || 90);
+    trajectoryOverlay.velocity = Number(message.vel || 0);
     updateMotorDisplay();
+    renderDriveEstimatorOverlay();
+    renderTrajectoryOverlay();
+  });
+
+  motorCommandsListener = new ROSLIB.Topic({
+    ros: ros,
+    name: "/motor_commands",
+    messageType: "exomy/MotorCommands"
+  });
+  motorCommandsListener.subscribe(function (message) {
+    driveEstimator.motorSpeeds = Array.isArray(message.motor_speeds) ? message.motor_speeds.map(Number) : [0, 0, 0, 0, 0, 0];
+    renderDriveEstimatorOverlay();
+    renderTrajectoryOverlay();
   });
 
   var joySubscriber = new ROSLIB.Topic({