diff --git a/modules/detection_and_odometry.py b/modules/detection_and_odometry.py
deleted file mode 100644
index 29c6af8..0000000
--- a/modules/detection_and_odometry.py
+++ /dev/null
@@ -1,52 +0,0 @@
-"""
-LiDAR detection and local odometry data structure.
-"""
-
-from . import drone_odometry_local
-from . import lidar_detection
-
-
-class DetectionAndOdometry:
-    """
-    Contains LiDAR reading and current local odometry.
-    """
-
-    __create_key = object()
-
-    @classmethod
-    def create(
-        cls,
-        detection: lidar_detection.LidarDetection,
-        local_odometry: drone_odometry_local.DroneOdometryLocal,
-    ) -> "tuple[bool, DetectionAndOdometry | None]":
-        """
-        Combines lidar reading with local odometry
-        """
-
-        if detection is None:
-            return False, None
-
-        if local_odometry is None:
-            return False, None
-
-        return True, DetectionAndOdometry(cls.__create_key, detection, local_odometry)
-
-    def __init__(
-        self,
-        create_key: object,
-        detection: lidar_detection.LidarDetection,
-        local_odometry: drone_odometry_local.DroneOdometryLocal,
-    ) -> None:
-        """
-        Private constructor, use create() method.
-        """
-        assert create_key is DetectionAndOdometry.__create_key, "Use create() method"
-
-        self.detection = detection
-        self.odometry = local_odometry
-
-    def __str__(self) -> str:
-        """
-        String representation.
-        """
-        return f"{self.__class__.__name__}, {self.detection}, str{self.odometry}"
diff --git a/modules/detections_and_odometry.py b/modules/detections_and_odometry.py
new file mode 100644
index 0000000..1ef2144
--- /dev/null
+++ b/modules/detections_and_odometry.py
@@ -0,0 +1,52 @@
+"""
+LiDAR detection and local odometry data structure.
+"""
+
+from . import drone_odometry_local
+from . import lidar_detection
+
+
+class DetectionsAndOdometry:
+    """
+    Contains LiDAR readings and current local odometry.
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(
+        cls,
+        detections: "list[lidar_detection.LidarDetection]",
+        local_odometry: drone_odometry_local.DroneOdometryLocal,
+    ) -> "tuple[bool, DetectionsAndOdometry | None]":
+        """
+        Combines lidar readings with local odometry
+        """
+        if len(detections) == 0:
+            return False, None
+
+        if local_odometry is None:
+            return False, None
+
+        return True, DetectionsAndOdometry(cls.__create_key, detections, local_odometry)
+
+    def __init__(
+        self,
+        create_key: object,
+        detections: "list[lidar_detection.LidarDetection]",
+        local_odometry: drone_odometry_local.DroneOdometryLocal,
+    ) -> None:
+        """
+        Private constructor, use create() method.
+        """
+        assert create_key is DetectionsAndOdometry.__create_key, "Use create() method"
+
+        self.detections = detections
+        self.odometry = local_odometry
+
+    def __str__(self) -> str:
+        """
+        String representation.
+        """
+        detections_str = ", ".join(str(detection) for detection in self.detections)
+        return f"{self.__class__.__name__}, Detections ({len(self.detections)}): {detections_str}, str{self.odometry}"