diff --git a/plugins/driver_olei/olei_driver.hpp b/plugins/driver_olei/olei_driver.hpp
index 5df5b37..d62f714 100644
--- a/plugins/driver_olei/olei_driver.hpp
+++ b/plugins/driver_olei/olei_driver.hpp
@@ -13,7 +13,7 @@ inline constexpr ModelConfig MODEL_VB     { "VB",      -135.f, 135.f, 0.05f, 30.
 inline constexpr ModelConfig MODEL_VF     { "VF",      -180.f, 180.f, 0.05f, 30.f };  // 2D 360°
 inline constexpr ModelConfig MODEL_LR1F   { "LR-1F",   -180.f, 180.f, 0.05f, 50.f, 180.f };  // 2D 360° 50m; device 0° = rear
 inline constexpr ModelConfig MODEL_LR1FMI { "LR-1FMI", -180.f, 180.f, 0.05f, 30.f, 180.f };  // 2D 360° (Family B); device 0° = rear
-inline constexpr ModelConfig MODEL_LR1BS5 { "LR-1BS5", -180.f, 180.f, 0.05f, 30.f };  // 2D 360° (Family B)
+inline constexpr ModelConfig MODEL_LR1BS5 { "LR-1BS5", -180.f, 180.f, 0.05f, 30.f, 180.f };  // 2D 360° (Family B); device 0° = rear (field-verified on OLELR-1BS5: with offset 0 the SLAM heading came out 180° from the direction of travel)
 inline constexpr ModelConfig MODEL_LR16F  { "LR-16F",  -135.f, 135.f, 0.05f, 30.f };  // 3D 16 line
 inline constexpr ModelConfig MODEL_GS15   { "GS1-5",   -180.f, 180.f, 0.05f, 30.f };  // 2D 360° (Family C/V3)
 inline constexpr ModelConfig MODEL_AUTO   { "AUTO",    -180.f, 180.f, 0.05f, 30.f };