diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 98c636b0a4..dc2f1368ac 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -573,7 +573,10 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
   const int arc_l = 133;
   const float arc_t_default = 6.7;
   const float arc_t_extend = 12.0;
-  QColor arc_color = QColor::fromRgbF(0.09, 0.945, 0.26, 0.4*(1.0-dm_fade_state)*(s->engaged()));
+  QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(),
+                                      0.545 + 0.4 * s->engaged(),
+                                      0.545 - 0.285 * s->engaged(),
+                                      0.4 * (1.0 - dm_fade_state));
   float delta_x = -scene.driver_pose_sins[1] * arc_l / 2;
   float delta_y = -scene.driver_pose_sins[0] * arc_l / 2;
   painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap));