From 9b2dc5242bacbcf153179a45f2550d755fc96579 Mon Sep 17 00:00:00 2001
From: e5l <leonid.stashevsky@gmail.com>
Date: Fri, 26 Aug 2016 13:08:45 +0300
Subject: [PATCH] car_fmw: multiple attempts when scan failing

---
 car_fmw/src/include/Sonar.kt | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

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
     }