diff --git a/docs/feedback/FB-06-always-interactive-map-recenter.md b/docs/feedback/FB-06-always-interactive-map-recenter.md
index cd88dc1..a110701 100644
--- a/docs/feedback/FB-06-always-interactive-map-recenter.md
+++ b/docs/feedback/FB-06-always-interactive-map-recenter.md
@@ -1,6 +1,6 @@
 # FB-06 — Map is always pannable and zoomable, with a recenter control
 
-**Depends on** — · **Size** M · **Status** Not started
+**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
@@ -151,3 +151,49 @@ Outcome section and make no code change for it.
 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));
+    });
+  });
 }