diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c b/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c
index 8f663486d7..c8fe7e605b 100644
--- a/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c
+++ b/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.c
@@ -19,6 +19,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/**
+ * @file modules/stereocam/nav_line_avoid/avoid_navigation.c
+ *
+ */
+
+
 // Own Header
 #include "avoid_navigation.h"
 
@@ -42,6 +48,8 @@
 
 
 
+
+
 struct AvoidNavigationStruct avoid_navigation_data;
 bool_t obstacle_detected = FALSE;
 int32_t counter = 0;
@@ -85,8 +93,8 @@ void run_avoid_navigation_onvision(void)
           struct EnuCoor_i *pos = stateGetPositionEnu_i();
           float sin_heading = sinf(ANGLE_FLOAT_OF_BFP(nav_heading));
           float cos_heading = cosf(ANGLE_FLOAT_OF_BFP(nav_heading));
-          new_coor.x = pos->x + POS_BFP_OF_REAL(sin_heading * 3.5);
-          new_coor.y = pos->y + POS_BFP_OF_REAL(cos_heading * 3.5);
+          new_coor.x = pos->x + POS_BFP_OF_REAL(sin_heading * (NAV_LINE_AVOID_SEGMENT_LENGTH));
+          new_coor.y = pos->y + POS_BFP_OF_REAL(cos_heading * (NAV_LINE_AVOID_SEGMENT_LENGTH));
           new_coor.z = pos->z;
           waypoint_set_xy_i(WP_W1, new_coor.x, new_coor.y);
           obstacle_detected = FALSE;
diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.h b/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.h
index 6563d959f3..b884b46473 100644
--- a/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.h
+++ b/sw/airborne/modules/stereocam/nav_line_avoid/avoid_navigation.h
@@ -19,12 +19,27 @@
  * Boston, MA 02111-1307, USA.
  */
 
+/**
+ * @file modules/stereocam/nav_line_avoid/avoid_navigation.h
+ *
+ *  - while flying a route from A -> B
+ *  - when
+ */
+
+
 
 #ifndef AVOID_NAVIGATION_H_
-#define AVOID_NAVIGATION_H_
+#define AVOID_NAVIGATION_H
 
 #include <std.h>
 
+
+#ifndef NAV_LINE_AVOID_SEGMENT_LENGTH
+#define NAV_LINE_AVOID_SEGMENT_LENGTH 3.5
+#endif
+
+
+
 struct AvoidNavigationStruct {
   uint8_t mode; ///< 0 = nothing, 1 =  climb, 2 = sideways, ...
   uint8_t stereo_bin[8];
diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c
index 267a60c10b..910ea7543c 100644
--- a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c
+++ b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.c
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file modules/stereoavoid/stereoavoid.c
+ * @file modules/stereocam/nav_line_avoid/stereoavoid.c
  *
  * Parse avoidance messages from stereocamera to use obstacle results in navigation
  */
diff --git a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.h b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.h
index e0d50778c7..ff7170d285 100644
--- a/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.h
+++ b/sw/airborne/modules/stereocam/nav_line_avoid/stereo_avoid.h
@@ -20,7 +20,7 @@
  */
 
 /**
- * @file modules/stereoavoid/stereoavoid.h
+ * @file modules/stereocam/nav_line_avoid/stereoavoid.h
  *
  */