diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index befbe3ae..ab942cd2 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -63,6 +63,8 @@
     <!-- vl53l1x ToF rangefinder -->
     <node name="rangefinder" pkg="vl53l1x" type="vl53l1x_node" output="screen" if="$(arg rangefinder_vl53l1x)">
         <param name="frame_id" value="rangefinder"/>
+        <param name="min_signal" value="0.4"/>
+        <param name="pass_statuses" type="yaml" value="[0, 6, 7, 11]"/>
     </node>
 
     <!-- led strip -->