diff --git a/ball_detector/launch/ball_detector_params_default.yaml b/ball_detector/launch/ball_detector_params_default.yaml
index 439d4f1..4569b97 100644
--- a/ball_detector/launch/ball_detector_params_default.yaml
+++ b/ball_detector/launch/ball_detector_params_default.yaml
@@ -20,4 +20,4 @@ filter2_s_max: 40
 filter2_v_min: 200
 filter2_v_max: 255
 ellipse_size: 1
-filter_debug: false
\ No newline at end of file
+filter_debug: false
diff --git a/ball_detector/msg/BallDetectorParams.msg b/ball_detector/msg/BallDetectorParams.msg
index e72a4ad..cd1c210 100644
--- a/ball_detector/msg/BallDetectorParams.msg
+++ b/ball_detector/msg/BallDetectorParams.msg
@@ -14,3 +14,4 @@ uint32  filter_s_min            # 0 - 255
 uint32  filter_s_max
 uint32  filter_v_min            # 0 - 255
 uint32  filter_v_max
+uint32  ellipse_size            # 1 - 9
diff --git a/ball_detector/src/ball_detector.cpp b/ball_detector/src/ball_detector.cpp
index 945654b..a38c2b7 100644
--- a/ball_detector/src/ball_detector.cpp
+++ b/ball_detector/src/ball_detector.cpp
@@ -302,6 +302,7 @@ bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req,
   params_config_.filter_threshold.s_max = req.params.filter_s_max;
   params_config_.filter_threshold.v_min = req.params.filter_v_min;
   params_config_.filter_threshold.v_max = req.params.filter_v_max;
+  params_config_.ellipse_size = req.params.ellipse_size;
 
   saveConfig();
 
@@ -326,6 +327,7 @@ bool BallDetector:: getParamCallback(ball_detector::GetParameters::Request &req,
   res.returns.filter_s_max = params_config_.filter_threshold.s_max;
   res.returns.filter_v_min = params_config_.filter_threshold.v_min;
   res.returns.filter_v_max = params_config_.filter_threshold.v_max;
+  res.returns.ellipse_size = params_config_.ellipse_size;
 
   return true;
 }
@@ -400,6 +402,7 @@ void BallDetector::publishParam()
   params.filter_s_max = params_config_.filter_threshold.s_max;
   params.filter_v_min = params_config_.filter_threshold.v_min;
   params.filter_v_max = params_config_.filter_threshold.v_max;
+  params.filter_v_max = params_config_.ellipse_size;
 
   param_pub_.publish(params);
 }