diff --git a/src/lookahead.c b/src/lookahead.c
index 86fd7ee..ea74a6d 100644
--- a/src/lookahead.c
+++ b/src/lookahead.c
@@ -14,7 +14,7 @@ void check_coll(gpointer key, gpointer value, gpointer ud){
 	 *ud.collision |= (sqrt(dx*dx + dy*dy) - value.rad) < 1;
 }
 
-void fit_parameter(telemetry* t1, telemetry* t2, telemetry* t3, double* a, double* aw){
+void fit_parameter(telemetry* t1, telemetry* t2, telemetry* t3, map* m){
 	double a1,a2;
 	double w1,w2;
 	double dt1,dt2;
@@ -29,12 +29,13 @@ void fit_parameter(telemetry* t1, telemetry* t2, telemetry* t3, double* a, doubl
 		fprintf(stderr,"Inkonsistent accelerations, inaccurate results possible\n");
 	}
 
-	*a = (a1 + a2)/2;
+	m->a = (a1 + a2)/2;
+	m->k = m->a/m->max_speed/m->max_speed;
 
 	w1 = (t2->dir - t1->dir)/dt1;
 	w2 = (t3->dir - t2->dir)/dt2;
 
-	*aw = 2*(w2 - w1)/(dt1 + dt2);
+	m->aw = 2*(w2 - w1)/(dt1 + dt2);
 }
 
 void dgl(trial* t, vehicle* after, vehicle* before, timestamp deltat){
diff --git a/src/radar_main.c b/src/radar_main.c
index bd43074..5a39da5 100644
--- a/src/radar_main.c
+++ b/src/radar_main.c
@@ -1,6 +1,5 @@
 
 #include "control.h"
-#include "path.h"
 
 #include <stdio.h>
 
@@ -13,7 +12,7 @@ void trial_loop(trial *t) {
 		if (t->runcnt == 0) {
 			goradar(t);
 			vehicle_accel(t);
-			switch (t->v.turn) {
+			switch (t->vehicle.turn) {
 				case TURN_LEFT:
 				case TURN_STRAIGHT:
 					vehicle_hard_left(t); break;
@@ -21,10 +20,14 @@ void trial_loop(trial *t) {
 					vehicle_hard_right(t); break;
 				default: break;
 			}
-			while (t->telemetry->length < 4) {
+			while (t->telemetry.length < 4) {
 				if (-1 == trial_wait_for_input(t)) return;
 			}
-			/* TODO: call constant calculatoin */
+			fit_parameter(	(telemetry*) g_queue_peek_nth(&t->telemetry,1),
+					(telemetry*) g_queue_peek_nth(&t->telemetry,2),
+					(telemetry*) g_queue_peek_nth(&t->telemetry,3),
+					&t->map);
+
 		}
 		while (t->alive) {
 			simulate(t, getcurts(t) + LATENCY);