diff --git a/car_fmw/src/include/Sonar.kt b/car_fmw/src/include/Sonar.kt
index 77e3df514cc..c63b87803e2 100644
--- a/car_fmw/src/include/Sonar.kt
+++ b/car_fmw/src/include/Sonar.kt
@@ -29,10 +29,14 @@ object Sonar {
         var distance = getDistance(start)
         while (i <= stop && distance == -1) {
             distance = getDistance(i)
-
             i += step
         }
 
+        while (i >= start && distance == -1) {
+            distance = getDistance(i)
+            i -= step
+        }
+
         return distance
     }