diff --git a/pkg/steering/controller.go b/pkg/steering/controller.go
index 4e286a2..54e8b0a 100644
--- a/pkg/steering/controller.go
+++ b/pkg/steering/controller.go
@@ -112,6 +112,7 @@ func (c *Controller) onObjects(_ mqtt.Client, message mqtt.Message) {
 	c.muObjects.Lock()
 	defer c.muObjects.Unlock()
 	c.objects = msg.GetObjects()
+	zap.S().Debugf("%v object(s) received", len(c.objects))
 }
 
 func (c *Controller) onDriveMode(_ mqtt.Client, message mqtt.Message) {
@@ -201,6 +202,7 @@ func (c *Controller) Objects() []*events.Object {
 	defer c.muObjects.RUnlock()
 	res := make([]*events.Object, 0, len(c.objects))
 	copy(res, c.objects)
+	zap.S().Debugf("copy object from %v to %v", c.objects, res)
 	return res
 }
 
diff --git a/pkg/steering/corrector.go b/pkg/steering/corrector.go
index a5e2559..a3508c2 100644
--- a/pkg/steering/corrector.go
+++ b/pkg/steering/corrector.go
@@ -131,6 +131,7 @@ AdjustFromObjectPosition modify steering value according object positions
     :   | ... | ... | ... | ... | ... | ... |
 */
 func (c *GridCorrector) AdjustFromObjectPosition(currentSteering float64, objects []*events.Object) float64 {
+	zap.S().Debugf("%v objects to avoid", len(objects))
 	if len(objects) == 0 {
 		return currentSteering
 	}