Rinse the foxtail millet and soak in water for 10-15 mins . Drain water and keep aside
Take a pan add oil and heat. Add chana dal, urad dal and mustard. Fry till they turn golden brown and mustard splutters.Later add curry leaves,onion and green chilli . Saute for a minute or two till the onion turns slight pink. Add chopped tomatoes .
Add finely chopped mixed veggies. Add some salt ,turmeric and saute for 3-4 mins.
To that add water .Keep the flame on medium high and bring to boil .
When the water starts to boil add foxtail millet, lemon and remaining salt.Mix well.Cover and cook for about 10 minutes on low flame . Alternatively, you can pressure cook for 2 whistles too
Once foxtail millet is cooked ( until all the water has been absorbed by the millet and feels cooked and looks grainy ) add coriander leaves and coconut (optional) . Toss once and switch off.
Serve Foxtail millet / Navane upma hot as such or with chutney .