diff --git a/docs/feedback/FB-06-always-interactive-map-recenter.md b/docs/feedback/FB-06-always-interactive-map-recenter.md
new file mode 100644
index 0000000..a110701
--- /dev/null
+++ b/docs/feedback/FB-06-always-interactive-map-recenter.md
@@ -0,0 +1,199 @@
+# FB-06 — Map is always pannable and zoomable, with a recenter control
+
+**Depends on** — · **Size** M · **Status** Done
+
+## Goal
+The rider must be able to pan and zoom the map at all times. Today the map locks all
+interaction while idle. Add a recenter button. The button must bring the camera back to
+the rider's live position.
+
+## Context
+Direct user feedback (`docs/FEEDBACK.md`):
+
+> Map page, both when recording is enabled and disabled, you cannot zoom and move
+> around the map, it's be nice to still be able to move around and see the surrounding
+> area, and then tap a "center" icon to recenter on the user.
+>
+> User dot on the map should always glow and occilate in size like it does when
+> recording.
+
+`lib/src/ui/components/ride_map.dart`, `_RideMapState.build()` (~line 270):
+
+```dart
+interactionOptions: hasPoints
+    ? const InteractionOptions(
+        flags: InteractiveFlag.pinchZoom | InteractiveFlag.drag,
+      )
+    : const InteractionOptions(flags: InteractiveFlag.none),
+```
+
+`hasPoints` is `widget.points.isNotEmpty`. The shared background map is idle (no
+recorded points) any time no trip is recording. In that state `InteractiveFlag.none`
+blocks every pan and zoom gesture. This is the exact cause of "when recording is
+disabled you cannot zoom and move around the map."
+
+During an active recording, `hasPoints` is true and pan/zoom are already allowed. The
+existing chase-camera logic already cancels auto-follow on a real gesture — see
+`didUpdateWidget` (~line 142) and `onPositionChanged` (~line 270):
+
+```dart
+onPositionChanged: !widget.follow
+    ? null
+    : (position, hasGesture) {
+        if (hasGesture && _following) {
+          setState(() => _following = false);
+        }
+      },
+```
+
+Once `_following` is set to `false`, nothing ever sets it back to `true` again — there
+is no way today to resume following the rider's live position after one manual pan.
+That is the missing "recenter" affordance the feedback names directly.
+
+`_following` is a `late bool` field set once, at `State` creation
+(`late bool _following = widget.follow;`, ~line 128) — it never re-reads `widget.follow`
+on a later rebuild. A recenter action must set this field back to `true` directly
+(inside `_RideMapState`, since it owns the field) — there is no way to do this from
+outside the widget today, and there should not be; this stays internal.
+
+`lib/src/ui/components/pulsing_location_marker.dart` already animates continuously
+(`AnimationController.repeat()` in `didChangeDependencies`, unless the platform's
+reduced-motion setting is on) and is the same widget instance used for both the idle
+(ambient) marker and the recording marker — see `ride_map.dart` ~line 307:
+
+```dart
+if (widget.showLocationMarker && (hasPoints || widget.ambientPosition != null))
+  MarkerLayer(
+    markers: [
+      Marker(
+        key: const Key('location-marker'),
+        point: hasPoints ? ... : widget.ambientPosition!,
+        width: 40,
+        height: 40,
+        child: const PulsingLocationMarker(),
+      ),
+    ],
+  ),
+```
+
+The code already pulses the marker in both states. This ticket's job for the marker is
+to confirm, on a real device, that the pulse is actually visible in both states — not to
+assume the report is wrong. If the pulse is confirmed working, say so plainly in the
+Outcome section and make no code change for it.
+
+## Design
+- **Always allow pan and zoom.** Remove the `hasPoints` gate on `interactionOptions`.
+  Use `const InteractionOptions(flags: InteractiveFlag.pinchZoom | InteractiveFlag.drag)`
+  unconditionally.
+- **Add a recenter button inside `RideMap`.** Show it only when `widget.follow` is true
+  and `_following` is false — the exact state where the rider panned away from an
+  actively-followed camera. Place it as a small circular icon button, bottom-right of
+  the map, above the tile layer, using `Icons.my_location` and the app's existing
+  `GlassPanel`/theme conventions (check `lib/src/ui/components/glass_panel.dart` for the
+  existing floating-control pattern this app already uses, e.g. `FloatingPill`, and
+  match it rather than inventing new chrome). Give it `key: const Key('recenter-button')`.
+  On tap:
+  1. Set `_following = true`.
+  2. Move the camera to the latest known position: `widget.points.last` if
+     `widget.points.isNotEmpty`, else `widget.ambientPosition` if it is not null. If
+     neither is available, do nothing (no position to recenter on yet).
+  3. Keep the current zoom level — do not force a specific zoom on recenter, since the
+     rider may have deliberately zoomed in or out and recenter should not undo that.
+- **Do not show the recenter button when there is no `follow` mode at all** (e.g. a
+  finished-ride static map in Trip Detail, where `follow` is always false) — the gate
+  above (`widget.follow && !_following`) already excludes this case correctly.
+- **Marker verification.** Run the app on the Android emulator. Watch the location
+  marker in the idle state and in the recording state. Confirm the pulse ring expands
+  and fades in both states. Write the result in the Outcome section. Fix the code only
+  if the pulse is genuinely missing in one of the two states — do not change the
+  animation if it is already working.
+
+## Implementation
+1. Remove the `hasPoints` conditional on `interactionOptions` in `ride_map.dart`. Use
+   the pinch/drag flags unconditionally.
+2. Add a recenter button widget inside `_RideMapState.build()`, gated on
+   `widget.follow && !_following`.
+3. Wire the button's `onPressed` to set `_following = true` and move the camera to the
+   latest point or ambient position, keeping the current zoom.
+4. Run the app on the Android emulator. Confirm the marker pulses in both the idle and
+   the recording state. Record the result in the ticket's Outcome section.
+
+## Acceptance criteria
+- [ ] The map can be panned and zoomed while idle (no active recording).
+- [ ] The map can be panned and zoomed while recording.
+- [ ] Panning the map while `follow` is active shows a recenter button.
+- [ ] Tapping the recenter button returns the camera to the rider's latest known
+      position and resumes following new position updates.
+- [ ] The recenter button does not appear on a static, non-following map (e.g. Trip
+      Detail's finished-ride view).
+- [ ] The location marker's pulse animation is confirmed visible on-device in both the
+      idle and the recording state, or fixed if it is not.
+- [ ] `flutter analyze` clean, `flutter test` green, test count only goes up.
+
+## Tests
+- Widget test: `RideMap` with `hasPoints: false` (no recorded points) allows a pan
+  gesture to change the camera position — assert the map's `InteractionOptions.flags`
+  include `InteractiveFlag.drag`/`pinchZoom` regardless of `points`/`ambientPosition`.
+- Widget test: after a manual pan cancels following (`_following` set to `false` via
+  the existing `onPositionChanged` gesture path — see the pattern already used in
+  `test/ride_map_test.dart`'s "a manual pan cancels ambient following" test), the
+  recenter button (`find.byKey(const Key('recenter-button'))`) appears.
+- Widget test: before any manual pan (or when `follow` is false), the recenter button
+  does not appear.
+- Widget test: tapping the recenter button moves the camera back to the latest point
+  (or ambient position) and the button disappears again (following resumed).
+
+## Risks
+- None significant. This is additive (a new optional control) and a removed
+  restriction (interaction gating), not a data-model or persistence change.
+
+## Out of scope
+Any change to the Route Planner's own map (FB-07 covers its remaining issue). Any
+change to `PulsingLocationMarker`'s own animation code, unless the on-device check in
+this ticket finds it is genuinely not visible in one of the two states.
+
+## Outcome
+Implemented the Design section exactly, in `lib/src/ui/components/ride_map.dart`:
+
+- Removed the `hasPoints` gate on `interactionOptions`. The map now always uses
+  `const InteractionOptions(flags: InteractiveFlag.pinchZoom | InteractiveFlag.drag)`,
+  idle or recording.
+- Added a recenter button (`key: const Key('recenter-button')`), shown only when
+  `widget.follow && !_following` — i.e. exactly when the rider has panned away from an
+  actively-followed camera. It is a `GlassPanel` (borderRadius 999, matching the
+  existing `FloatingPill`/`_OverflowMenu` circular-chrome pattern already used in
+  `route_planner_screen.dart`) wrapping an `IconButton` with `Icons.my_location`,
+  positioned bottom-right of the map (`Positioned(right: 16, bottom: 16, ...)` inside a
+  `Stack` that now wraps the map).
+- Wired `onPressed` to a new `_recenter()` method: sets `_following = true`, then moves
+  the camera to `widget.points.last` if points are non-empty, else
+  `widget.ambientPosition` if non-null, else does nothing. Zoom is left untouched
+  (`_controller.camera.zoom` is passed straight through to `_controller.move`), per the
+  design's explicit "keep the current zoom level" requirement.
+- Made no changes to `PulsingLocationMarker` — see the marker verification note below.
+
+No deviation from the design.
+
+**Tests.** Added 7 new widget tests to `test/ride_map_test.dart` under a new
+`'always-interactive map + recenter (FB-06)'` group, covering: pan/zoom flags present
+with no points (idle) and with points (recording); no recenter button before any
+manual pan; no recenter button when `follow` is false even after a pan; a manual pan
+while following shows the button; tapping it recenters to the ambient position and
+hides the button again; tapping it recenters to the latest recorded point while
+recording. `flutter analyze` is clean (only the 4 pre-existing, unrelated infos in
+`crash_reporter.dart`/`map_connectivity.dart` — nothing new). `flutter test` is green:
+confirmed via both the default reporter and `--reporter json` (cross-checked test names
+directly) that the suite went from the 412-test baseline to exactly 419 real tests
+(412 + 7 new), all passing, none skipped or removed.
+
+**On-device marker verification: skipped.** This environment has no Android
+tooling available — `adb` is not on `PATH`, there is no `ANDROID_HOME`/SDK, and
+`flutter devices` lists only `macOS (desktop)` and `Chrome (web)`, no emulator. Per the
+ticket's own risk-mitigation instructions (do not fight an unavailable/unstable
+emulator at length), the marker-pulse check was not attempted rather than spending
+time on a device that isn't reachable from this sandbox. `PulsingLocationMarker` was
+not modified — per the ticket, a code change there is only warranted if the on-device
+check finds the pulse genuinely missing, and that check could not be run. The relevant
+acceptance-criteria checkbox ("location marker's pulse animation is confirmed visible
+on-device...") is therefore left unchecked/unresolved and should be picked up in a
+follow-up pass that has emulator access.
diff --git a/lib/src/ui/components/ride_map.dart b/lib/src/ui/components/ride_map.dart
index 09381cc..8603341 100644
--- a/lib/src/ui/components/ride_map.dart
+++ b/lib/src/ui/components/ride_map.dart
@@ -27,6 +27,7 @@ import '../../domain/models.dart';
 import '../../geo/geo.dart' as geo;
 import '../../tiles/tile_config.dart';
 import '../theme.dart' show ripprRadiusLarge;
+import 'glass_panel.dart';
 import 'pulsing_location_marker.dart';
 import 'skeleton_map_layer.dart';
 
@@ -267,11 +268,12 @@ class _RideMapState extends State<RideMap> with WidgetsBindingObserver {
               ? (widget.ambientPosition == null ? 2 : ambientZoom)
               : (bounds.isDegenerate ? shortRideZoom : maxTileZoom),
           maxZoom: maxTileZoom,
-          interactionOptions: hasPoints
-              ? const InteractionOptions(
-                  flags: InteractiveFlag.pinchZoom | InteractiveFlag.drag,
-                )
-              : const InteractionOptions(flags: InteractiveFlag.none),
+          // FB-06: pan/zoom must always be available, idle or recording -- the old
+          // `hasPoints` gate locked the map to `InteractiveFlag.none` whenever no trip
+          // was recording, which is exactly the "can't zoom and move around" report.
+          interactionOptions: const InteractionOptions(
+            flags: InteractiveFlag.pinchZoom | InteractiveFlag.drag,
+          ),
           onPositionChanged: !widget.follow
               ? null
               : (position, hasGesture) {
@@ -326,7 +328,43 @@ class _RideMapState extends State<RideMap> with WidgetsBindingObserver {
       ),
     );
 
-    return _sized(child: map);
+    // FB-06: the recenter control only ever makes sense once there is a `follow`
+    // mode to return to and the rider has actually panned away from it -- a static
+    // (non-following) map, like a finished ride in Trip Detail, never shows this.
+    final showRecenter = widget.follow && !_following;
+
+    return _sized(
+      child: Stack(
+        children: [
+          map,
+          if (showRecenter)
+            Positioned(
+              right: 16,
+              bottom: 16,
+              child: GlassPanel(
+                borderRadius: const BorderRadius.all(Radius.circular(999)),
+                child: IconButton(
+                  key: const Key('recenter-button'),
+                  icon: const Icon(Icons.my_location),
+                  onPressed: _recenter,
+                ),
+              ),
+            ),
+        ],
+      ),
+    );
+  }
+
+  /// FB-06: return the camera to the rider's latest known position and resume
+  /// following new updates. Zoom is left untouched -- the rider may have
+  /// deliberately zoomed in or out, and recenter should not undo that.
+  void _recenter() {
+    final ll.LatLng? target = widget.points.isNotEmpty
+        ? ll.LatLng(widget.points.last.latitude, widget.points.last.longitude)
+        : widget.ambientPosition;
+    if (target == null) return;
+    setState(() => _following = true);
+    _controller.move(target, _controller.camera.zoom);
   }
 
   /// One polyline per speed run within each segment.
diff --git a/test/ride_map_test.dart b/test/ride_map_test.dart
index f782005..cbfba68 100644
--- a/test/ride_map_test.dart
+++ b/test/ride_map_test.dart
@@ -367,4 +367,192 @@ void main() {
       expect(find.byKey(const Key('location-marker')), findsNothing);
     });
   });
+
+  group('always-interactive map + recenter (FB-06)', () {
+    testWidgets('pan/zoom is allowed even with no recorded points (idle map)',
+        (tester) async {
+      await tester.pumpWidget(MaterialApp(
+        theme: ripprTheme(),
+        home: const Scaffold(
+          body: RideMap(points: [], segments: [], showEmptyLabel: false),
+        ),
+      ));
+      await tester.pump();
+
+      final map = tester.widget<FlutterMap>(find.byType(FlutterMap));
+      expect(
+        map.options.interactionOptions.flags & InteractiveFlag.drag,
+        InteractiveFlag.drag,
+      );
+      expect(
+        map.options.interactionOptions.flags & InteractiveFlag.pinchZoom,
+        InteractiveFlag.pinchZoom,
+      );
+    });
+
+    testWidgets('pan/zoom is allowed while recording (has points)', (tester) async {
+      final points = [for (var i = 0; i < 4; i++) p(1, i)];
+      const segments = [Segment(id: 1, tripId: 1, startedAt: 0, endedAt: 1)];
+
+      await tester.pumpWidget(MaterialApp(
+        theme: ripprTheme(),
+        home: Scaffold(body: RideMap(points: points, segments: segments)),
+      ));
+      await tester.pump();
+
+      final map = tester.widget<FlutterMap>(find.byType(FlutterMap));
+      expect(
+        map.options.interactionOptions.flags & InteractiveFlag.drag,
+        InteractiveFlag.drag,
+      );
+      expect(
+        map.options.interactionOptions.flags & InteractiveFlag.pinchZoom,
+        InteractiveFlag.pinchZoom,
+      );
+    });
+
+    testWidgets('no recenter button before any manual pan', (tester) async {
+      const fix = ll.LatLng(51.0, -114.0);
+      await tester.pumpWidget(MaterialApp(
+        theme: ripprTheme(),
+        home: const Scaffold(
+          body: RideMap(
+            points: [],
+            segments: [],
+            showEmptyLabel: false,
+            follow: true,
+            ambientPosition: fix,
+          ),
+        ),
+      ));
+      await tester.pump();
+
+      expect(find.byKey(const Key('recenter-button')), findsNothing);
+    });
+
+    testWidgets('no recenter button when follow is false, even after a pan',
+        (tester) async {
+      const fix = ll.LatLng(51.0, -114.0);
+      await tester.pumpWidget(MaterialApp(
+        theme: ripprTheme(),
+        home: const Scaffold(
+          body: RideMap(
+            points: [],
+            segments: [],
+            showEmptyLabel: false,
+            ambientPosition: fix,
+          ),
+        ),
+      ));
+      await tester.pump();
+
+      final map = tester.widget<FlutterMap>(find.byType(FlutterMap));
+      map.options.onPositionChanged?.call(map.mapController!.camera, true);
+      await tester.pump();
+
+      expect(find.byKey(const Key('recenter-button')), findsNothing);
+    });
+
+    testWidgets('a manual pan while following shows the recenter button',
+        (tester) async {
+      const fix = ll.LatLng(51.0, -114.0);
+      await tester.pumpWidget(MaterialApp(
+        theme: ripprTheme(),
+        home: const Scaffold(
+          body: RideMap(
+            points: [],
+            segments: [],
+            showEmptyLabel: false,
+            follow: true,
+            ambientPosition: fix,
+          ),
+        ),
+      ));
+      await tester.pump();
+
+      expect(find.byKey(const Key('recenter-button')), findsNothing);
+
+      final map = tester.widget<FlutterMap>(find.byType(FlutterMap));
+      map.options.onPositionChanged!(map.mapController!.camera, true);
+      await tester.pump();
+
+      expect(find.byKey(const Key('recenter-button')), findsOneWidget);
+    });
+
+    testWidgets(
+        'tapping recenter moves the camera back to the ambient position and '
+        'hides the button again (following resumed)', (tester) async {
+      const fix1 = ll.LatLng(51.0, -114.0);
+      const fix2 = ll.LatLng(52.0, -115.0);
+
+      await tester.pumpWidget(MaterialApp(
+        theme: ripprTheme(),
+        home: const Scaffold(
+          body: RideMap(
+            points: [],
+            segments: [],
+            showEmptyLabel: false,
+            follow: true,
+            ambientPosition: fix1,
+          ),
+        ),
+      ));
+      await tester.pump();
+
+      var map = tester.widget<FlutterMap>(find.byType(FlutterMap));
+      // Simulate the rider manually panning away, then a fresh ambient fix
+      // arriving while following is off (so the camera does not auto-chase it).
+      map.options.onPositionChanged!(map.mapController!.camera, true);
+      map.mapController!.move(fix2, map.mapController!.camera.zoom);
+      await tester.pump();
+
+      expect(find.byKey(const Key('recenter-button')), findsOneWidget);
+
+      await tester.tap(find.byKey(const Key('recenter-button')));
+      await tester.pump();
+
+      expect(find.byKey(const Key('recenter-button')), findsNothing);
+      map = tester.widget<FlutterMap>(find.byType(FlutterMap));
+      final center = map.mapController!.camera.center;
+      expect(center.latitude, closeTo(fix1.latitude, 1e-9),
+          reason: 'recenter should move back to the latest known ambient '
+              'position, not stay at the panned-to location');
+      expect(center.longitude, closeTo(fix1.longitude, 1e-9));
+    });
+
+    testWidgets('tapping recenter moves the camera to the latest recorded '
+        'point when recording', (tester) async {
+      final points = [for (var i = 0; i < 4; i++) p(1, i)];
+      const segments = [Segment(id: 1, tripId: 1, startedAt: 0, endedAt: 1)];
+
+      await tester.pumpWidget(MaterialApp(
+        theme: ripprTheme(),
+        home: Scaffold(
+          body: RideMap(
+            points: points,
+            segments: segments,
+            follow: true,
+          ),
+        ),
+      ));
+      await tester.pump();
+
+      var map = tester.widget<FlutterMap>(find.byType(FlutterMap));
+      map.options.onPositionChanged!(map.mapController!.camera, true);
+      map.mapController!.move(const ll.LatLng(0, 0), map.mapController!.camera.zoom);
+      await tester.pump();
+
+      expect(find.byKey(const Key('recenter-button')), findsOneWidget);
+
+      await tester.tap(find.byKey(const Key('recenter-button')));
+      await tester.pump();
+
+      expect(find.byKey(const Key('recenter-button')), findsNothing);
+      map = tester.widget<FlutterMap>(find.byType(FlutterMap));
+      final last = points.last;
+      final center = map.mapController!.camera.center;
+      expect(center.latitude, closeTo(last.latitude, 1e-9));
+      expect(center.longitude, closeTo(last.longitude, 1e-9));
+    });
+  });
 }