diff --git a/src/lookahead.c b/src/lookahead.c
index 8af3688..eeb6336 100644
--- a/src/lookahead.c
+++ b/src/lookahead.c
@@ -69,6 +69,8 @@ void fit_parameter(telemetry* t1, telemetry* t2, telemetry* t3, map* m){
 void radar_dgl(trial* t, timestamp ts){
 	timestamp step = ts- t->sim.tm.ts;
 	if (step > 0){
+		t->sim.tm.vehicle.turn = t->vehicle.turn;
+		t->sim.tm.vehicle.accel = t->vehicle.accel;
 		dgl(t,&t->sim.tm.vehicle,&t->sim.tm.vehicle,1,step);
 		t->sim.tm.ts += step;
 		t->sim.steps++;
@@ -77,7 +79,7 @@ void radar_dgl(trial* t, timestamp ts){
 
 /*updates the simulation state when new telemetry arrives*/
 void sim_update(trial* t){
-
+	
 	telemetry *tm,*tmp;
 	tm = (telemetry*) g_queue_peek_tail(&t->telemetry);
 	fprintf(stderr, "Time diff: %i\n", tm->ts - t->sim.tm.ts);
@@ -94,6 +96,7 @@ void sim_update(trial* t){
 	fprintf(stderr, "speed = %f\n", t->sim.tm.vehicle.speed);
 
 	/*update simulation vehicle from telemetry: everything and calculate w*/
+//	tm->vehicle.w = t->sim.tm.vehicle.w; 
 	t->sim.tm.vehicle = tm->vehicle;
 	g_array_set_size(t->sim.tm.objects, 0);
 	g_array_append_vals(t->sim.tm.objects, tm->objects->data, tm->objects->len);
@@ -101,6 +104,7 @@ void sim_update(trial* t){
 	if(t->telemetry.length > 1){
 		tmp = (telemetry*) g_queue_peek_tail_link(&t->telemetry)->prev->data;
 		t->sim.tm.vehicle.w = (tm->vehicle.dir - tmp->vehicle.dir)/(tm->ts - tmp->ts);
+	
 	}
 // 	fprintf(stderr, "w = %f, dir = %f\n", t->sim.tm.vehicle.w, t->sim.tm.vehicle.dir);
 	fprintf(stderr, "speed = %f\n", t->sim.tm.vehicle.speed);
@@ -125,7 +129,7 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
 
 	for(i = 0;i<=end;i++){
 		if(i == end) dt = deltat - end*dt;
-		aw = t->map.aw * ((before->w > wsoll) ? -1 : 1);
+		aw = t->map.aw * ((before->w > wsoll) ? 1 : -1);
 		
 		/*calculate derivative*/
 		diff.x = cos(tmp.dir*M_PI/180)*tmp.speed/1000;
diff --git a/src/radar_main.c b/src/radar_main.c
index 43018d6..b9e0c40 100644
--- a/src/radar_main.c
+++ b/src/radar_main.c
@@ -25,12 +25,12 @@ void trial_loop(trial *t) {
 					vehicle_hard_right(t); break;
 				default: break;
 			}
-			while (t->telemetry.length < 5) {
+			while (t->telemetry.length < 6) {
 				if (-1 == trial_wait_for_input(t)) return;
 			}
-			fit_parameter(	(telemetry*) g_queue_peek_nth(&t->telemetry,2),
-					(telemetry*) g_queue_peek_nth(&t->telemetry,3),
+			fit_parameter(	(telemetry*) g_queue_peek_nth(&t->telemetry,3),
 					(telemetry*) g_queue_peek_nth(&t->telemetry,4),
+					(telemetry*) g_queue_peek_nth(&t->telemetry,5),
 					&t->map);
 			fprintf(stderr,"Fitparameter: a: %f aw: %f k: %f\n",t->map.a,t->map.aw,t->map.k);
 		}