From 89dfdf7785127f03579caebeeb8d6e78e9e7c789 Mon Sep 17 00:00:00 2001
From: lbaumberger <lbaumberger@student.ethz.ch>
Date: Thu, 30 Apr 2026 10:06:44 +0200
Subject: [PATCH] updated overview

---
 Overview_Formulas_Variables.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/Overview_Formulas_Variables.md b/Overview_Formulas_Variables.md
index 2c07f76..2ac4900 100644
--- a/Overview_Formulas_Variables.md
+++ b/Overview_Formulas_Variables.md
@@ -38,9 +38,9 @@ As a reference the paper was used (9805244v1.pdf)
 | $U_{\alpha B}^0$ | `U0_AB` | 10.0 | m²/s² |  |
 | $R$ | `R` | 0.2 | m |  |
 | $c$ | `c` | 0.5 | — |  |
-| $\varphi$ | `phi` | 100° | ($2\varphi = 200°$) | |
+| $\varphi$ | `phi` | 45 | degree ($2 \varphi = 90$) | |
 | $\Delta t$ | `delta_t` | 2 | s (look-ahead, used in $b$) ||
-| — | `dt` | 0.01 | s (Euler integration step) |  |
+| — | `dt` | 0.2 | s (Euler integration step) |  |
 
 
 ## 2. Formulas
@@ -77,10 +77,10 @@ r_{\alpha\beta} = r_\alpha - r_\beta
 $$
  
 $$
-s_\beta = v_\beta^0 \cdot \Delta t
+s_\beta = v_\beta \cdot \Delta t
+
 $$
- 
-> **Team convention:** paper writes $s_\beta = v_\beta \Delta t$ (actual speed); we use $v_\beta^0$ (desired speed).
+
  
 $$
 2b = \sqrt{\left(\| r_{\alpha\beta} \| + \| r_{\alpha\beta} - s_\beta \cdot e_\beta \|\right)^2 - s_\beta^2}