diff --git a/NetworkPerception.cpp b/NetworkPerception.cpp
index d8c716b..0ead299 100644
--- a/NetworkPerception.cpp
+++ b/NetworkPerception.cpp
@@ -99,15 +99,16 @@ void NetworkPerception::ReceivePlane(unsigned char* data, Roboid* roboid) {
   //     Vector3::SignedAngle(Vector3::forward, localPosition, Vector3::up);
 
   // Polar position = Polar(angle, distance);
-  Spherical position = Spherical(localPosition);
+  Spherical16 position = Spherical16::FromVector3(localPosition);
 
   // printf("Received plane (%f %f %f) (%f %f %f) %f %f %f\n", worldPosition.x,
   //        worldPosition.y, worldPosition.z, roboidPosition.x,
   //        roboidPosition.y, roboidPosition.z, position.distance,
   //        (float)position.horizontalAngle, (float)position.verticalAngle);
   printf("Received plane %f (%f %f)\n", position.distance,
-         position.horizontalAngle.ToFloat(), position.verticalAngle.ToFloat());
-  roboid->perception->AddTrackedObject(this, position, 0x80, networkId);
+         position.horizontal.ToFloat(), position.vertical.ToFloat());
+  roboid->perception->AddTrackedObject(this, position, Quaternion::identity,
+                                       0x80, 0x80, networkId);
 }
 
 void NetworkPerception::ReceiveSphere(unsigned char* data, Roboid* roboid) {
diff --git a/NetworkSync.cpp b/NetworkSync.cpp
index 99d978f..34f71f2 100644
--- a/NetworkSync.cpp
+++ b/NetworkSync.cpp
@@ -144,7 +144,7 @@ void NetworkSync::SendPose(Roboid* roboid, bool recurse) {
   buffer[ix++] = PoseMsg;
   buffer[ix++] = 0x00;
   buffer[ix++] = Pose_Position | Pose_Orientation;
-  SendSpherical(buffer, &ix, Spherical(roboid->GetPosition()));
+  SendSpherical(buffer, &ix, Spherical::FromVector3(roboid->GetPosition()));
   SendQuat32(buffer, &ix, roboid->GetOrientation());
   SendBuffer(ix);
 
@@ -232,7 +232,7 @@ void NetworkSync::PublishTrackedObject(Roboid* roboid,
   buffer[ix++] = PoseMsg;     // Position2DMsg;
   buffer[ix++] = object->id;  // objectId;
   buffer[ix++] = Pose_Position | Pose_Orientation;
-  SendSpherical(buffer, &ix, Spherical(worldPosition));
+  SendSpherical(buffer, &ix, Spherical::FromVector3(worldPosition));
   SendQuat32(buffer, &ix, worldOrientation);
   // SendPolar(buffer, &ix, polar); // 3 bytes
   // SendVector3(buffer, &ix, worldPosition);
@@ -373,8 +373,8 @@ void NetworkSync::SendPolar(unsigned char* data,
 void NetworkSync::SendSpherical(unsigned char* data,
                                 unsigned char* startIndex,
                                 Spherical s) {
-  SendAngle8(data, (*startIndex)++, s.horizontalAngle.ToFloat());
-  SendAngle8(data, (*startIndex)++, s.verticalAngle.ToFloat());
+  SendAngle8(data, (*startIndex)++, s.horizontal.ToFloat());
+  SendAngle8(data, (*startIndex)++, s.vertical.ToFloat());
   SendFloat16(data, startIndex, s.distance);
 }
 
diff --git a/README.md b/README.md
index 731befe..79eb746 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,19 @@
 RoboidControl is a cross platform framework to control autonomous robots. This library contains the generic functionality. Most projects will use one of the platform-specific implementations:
 * [RoboidControl for Arduino](https://gitlab.passervr.com/passer/arduino/roboidcontrol)
+
+Network Sync Protocol
+=====================
+
+The client connects to a Roboid Site using a Serial or WiFi connection.
+It will then send a 'Client (0xA0)' message to the Site
+The Site will respond with a 'NetworkId (0xA1)' message containing the NetworkId of this new client.
+Then the client can start sending normal messages.
+
+When the client sends a 'Pose (0x10)' message for a thing which is not known by the Site
+(the networkId/thingId combination is not known), the Site will send an 'Investigate (0x81)'
+message to the client.
+The client shall respond with a 'NewThing (0x80)' message containing the type of the thing.
+Optionally, the client can send a 'ModelURL (0x90)' message containing a link to the OBJ model of the thing.
+
+The same mechanism work the other way round, when the client receives a pose for an unknown object.
+The deviation is that the Site will (currently) not send 'ModelURL (0x90)' messages.
\ No newline at end of file