diff --git a/web/js/sections/board-control.js b/web/js/sections/board-control.js
index d997664..ea0f990 100644
--- a/web/js/sections/board-control.js
+++ b/web/js/sections/board-control.js
@@ -61,6 +61,19 @@ function buildHTML() {
         color: var(--accent-red, #ff5252);
         border: 1px solid rgba(255, 82, 82, 0.3);
       }
+      .pos-marker {
+        position: absolute;
+        width: 14px;
+        height: 14px;
+        border-radius: 50%;
+        background: var(--accent-blue);
+        border: 2px solid white;
+        transform: translate(-50%, -50%);
+        transition: left 0.1s linear, top 0.1s linear;
+        box-shadow: 0 0 10px rgba(0,0,0,0.5);
+        z-index: 10;
+        pointer-events: none;
+      }
     </style>
 
     <div class="section-page fade-in" style="display:flex; flex-direction:column; height: 100%;">
@@ -78,6 +91,7 @@ function buildHTML() {
             <div id="map-container" style="position: relative; width: 100%; max-width: 800px; background: #111; border-radius: 8px; box-shadow: 0 4px 20px rgba(0,0,0,0.5);">
               <img id="bg-image" src="web/assets/backgrounds/${currentBg}/bg.svg" style="width: 100%; display: block; height: auto; border-radius: 8px;" />
               <div id="markers-layer" style="position: absolute; top:0; left:0; width:100%; height:100%;"></div>
+              <div id="pos-marker" class="pos-marker" style="display:none;"></div>
             </div>
           </div>
         </div>
@@ -167,14 +181,37 @@ function buildHTML() {
   `;
 }
 
-function updatePositionReadout() {
+function updatePosMarker() {
+  const marker = document.getElementById('pos-marker');
+  if (!marker) return;
+
   const t1 = IK.stepsToRad(steps1);
   const t2 = IK.stepsToRad(steps2);
-  const { endX, endY } = IK.forward(t1, t2);
-  const px = document.getElementById('pos-x');
-  const py = document.getElementById('pos-y');
-  if (px) px.textContent = isFinite(endX) ? endX.toFixed(1) : '---';
-  if (py) py.textContent = isFinite(endY) ? endY.toFixed(1) : '---';
+  const { endX, endY, valid } = IK.forward(t1, t2);
+
+  if (valid && isFinite(endX) && isFinite(endY)) {
+    const px = document.getElementById('pos-x');
+    const py = document.getElementById('pos-y');
+    if (px) px.textContent = endX.toFixed(1);
+    if (py) py.textContent = endY.toFixed(1);
+
+    const w = bounds.xMax - bounds.xMin;
+    const h = bounds.yMax - bounds.yMin;
+    
+    // Bounds check to avoid marker flying off screen entirely
+    if (endX >= bounds.xMin && endX <= bounds.xMax && endY >= bounds.yMin && endY <= bounds.yMax) {
+      const xPct = ((endX - bounds.xMin) / w) * 100;
+      const yPct = ((bounds.yMax - endY) / h) * 100;
+      
+      marker.style.left = `${xPct}%`;
+      marker.style.top = `${yPct}%`;
+      marker.style.display = 'block';
+    } else {
+      marker.style.display = 'none'; // Out of bounds visually
+    }
+  } else {
+    marker.style.display = 'none';
+  }
 }
 
 function updateHomingUI() {
@@ -214,6 +251,7 @@ async function loadSpots() {
     spots = parsedSpots;
     document.getElementById('bg-image').src = `web/assets/backgrounds/${currentBg}/bg.svg?v=${Date.now()}`;
     renderSpots();
+    updatePosMarker();
   } catch(e) {
     UI.log('Failed to load spots.json', 'error');
   }
@@ -301,7 +339,7 @@ export default {
           () => ({ steps1, steps2 }),
           (s1, s2) => {
             steps1 = s1; steps2 = s2;
-            updatePositionReadout();
+            updatePosMarker();
           }
         );
       });
@@ -345,7 +383,7 @@ export default {
         steps2 = IK.ARM.HOME_STEPS.m2;
         Motion.setSteps(steps1, steps2);
         saveSteps();
-        updatePositionReadout();
+        updatePosMarker();
         UI.log('[sim] HOMEALL', 'info');
       }
     });
@@ -378,7 +416,7 @@ export default {
         const [s1, s2] = msg.slice(2).split(',').map(Number);
         steps1 = s1; steps2 = s2;
         saveSteps();
-        updatePositionReadout();
+        updatePosMarker();
       }
     };
     document.addEventListener('ble:status', onBLEStatus);
@@ -388,7 +426,7 @@ export default {
       BLE.write('POS').catch(() => {});
       sendSettings();
     } else {
-      updatePositionReadout();
+      updatePosMarker();
     }
 
     initQuickSequences(
@@ -397,7 +435,7 @@ export default {
       () => ({ steps1, steps2 }),
       (s1, s2) => {
         steps1 = s1; steps2 = s2;
-        updatePositionReadout();
+        updatePosMarker();
       }
     );