diff --git a/config/adc_car/basler_camera_sim_config.yaml b/config/adc_car/basler_camera_sim_config.yaml
index 2fbe6d5fc1db8b3a404dd50f94abcf1cac8cb416..7b616668075c441f6e9a48306f7e3591ca76a3c9 100644
--- a/config/adc_car/basler_camera_sim_config.yaml
+++ b/config/adc_car/basler_camera_sim_config.yaml
@@ -17,3 +17,17 @@ distortion_K2: 0.0
 distortion_K3: 0.0
 distortion_T1: 0.0
 distortion_T2: 0.0
+
+### wideangle camera
+lens_type: custom
+# when lens_type is custom
+## manually defined mapping function r = c1*f*fun(theta/c2 + c3)
+## More information here: https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
+lens_custom_function_c1:  1.05 #linear scaling
+lens_custom_function_c2:  4 #angle scaling
+lens_custom_function_f:   1.0 #scaling parameter
+lens_custom_function_fun: tan #sin,tan,id
+
+lens_scale_to_hfov:    true #if it is set to `true` your horizontal FOV will ramain as defined, othervise it depends on lens type and custom function, if there is one
+lens_cutoff_angle:     3.1415 # clip everything that is outside of this angle
+lens_env_texture_size: 512 # resolution of the cubemap texture, the highter it is - the sharper is your image