diff --git a/NetworkSync.cpp b/NetworkSync.cpp
index 784aac9..9e763f5 100644
--- a/NetworkSync.cpp
+++ b/NetworkSync.cpp
@@ -44,7 +44,7 @@ void NetworkSync::PublishTrackedObjects(SendBuffer sendBuffer,
 void NetworkSync::PublishTrackedObject(SendBuffer sendBuffer,
                                        InterestingThing *object) {
   Vector2 worldPosition2 =
-      Vector2::Rotate(Vector2::forward * object->position.magnitude,
+      Vector2::Rotate(Vector2::forward * object->position.distance,
                       -object->position.horizontalAngle);
   Vector3 worldPosition3 = Vector3(worldPosition2.x, 0, worldPosition2.y);
 
@@ -105,7 +105,8 @@ void NetworkSync::SendPoseMsg(SendBuffer sendBuffer, Roboid *roboid) {
 #endif
 }
 
-void NetworkSync::SendDestroyObject(SendBuffer sendBuffer, InterestingThing *obj) {
+void NetworkSync::SendDestroyObject(SendBuffer sendBuffer,
+                                    InterestingThing *obj) {
 #ifdef RC_DEBUG
   Serial.print("Send Destroy ");
   Serial.println((int)obj->id);
diff --git a/Perception.cpp b/Perception.cpp
index 782ca94..1f5e6b4 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -80,7 +80,7 @@ float Perception::GetDistance(float horizontalDirection, float range) {
     if (obj->position.horizontalAngle > horizontalDirection - range &&
         obj->position.horizontalAngle < horizontalDirection + range) {
 
-      minDistance = fminf(minDistance, obj->position.magnitude);
+      minDistance = fminf(minDistance, obj->position.distance);
     }
   }
   return minDistance;
@@ -99,7 +99,7 @@ float Perception::GetDistance(float horizontalDirection,
     if (obj->position.horizontalAngle > horizontalDirection - range &&
         obj->position.horizontalAngle < horizontalDirection + range) {
 
-      minDistance = fminf(minDistance, obj->position.magnitude);
+      minDistance = fminf(minDistance, obj->position.distance);
     }
   }
 
@@ -116,7 +116,7 @@ bool Perception::ObjectNearby(float direction, float range) {
 
     if (obj->position.horizontalAngle > direction - range &&
         obj->position.horizontalAngle < direction + range) {
-      if (obj->position.magnitude <= nearbyDistance)
+      if (obj->position.distance <= nearbyDistance)
         return true;
     }
   }
@@ -146,8 +146,8 @@ void Perception::AddTrackedObject(Sensor *sensor, Polar position) {
       }
       // Is this the fartest object we see?
       else if (this->trackedObjects[farthestObjIx] == nullptr ||
-               (this->trackedObjects[objIx]->position.magnitude >
-                this->trackedObjects[farthestObjIx]->position.magnitude)) {
+               (this->trackedObjects[objIx]->position.distance >
+                this->trackedObjects[farthestObjIx]->position.distance)) {
         farthestObjIx = objIx;
       }
     }
@@ -166,8 +166,8 @@ void Perception::AddTrackedObject(Sensor *sensor, Polar position) {
 
   }
   // If this object is closer than the farthest object, then replace it
-  else if (obj->position.magnitude <
-           this->trackedObjects[farthestObjIx]->position.magnitude) {
+  else if (obj->position.distance <
+           this->trackedObjects[farthestObjIx]->position.distance) {
     delete this->trackedObjects[farthestObjIx];
     this->trackedObjects[farthestObjIx] = obj;
     obj->id = availableSlotIx;
@@ -208,8 +208,8 @@ void Perception::AddTrackedObject(Sensor *sensor, Spherical position) {
       }
       // Is this the fartest object we see?
       else if (this->trackedObjects[farthestObjIx] == nullptr ||
-               (this->trackedObjects[objIx]->position.magnitude >
-                this->trackedObjects[farthestObjIx]->position.magnitude)) {
+               (this->trackedObjects[objIx]->position.distance >
+                this->trackedObjects[farthestObjIx]->position.distance)) {
         farthestObjIx = objIx;
       }
     }
@@ -228,8 +228,8 @@ void Perception::AddTrackedObject(Sensor *sensor, Spherical position) {
 
   }
   // If this object is closer than the farthest object, then replace it
-  else if (obj->position.magnitude <
-           this->trackedObjects[farthestObjIx]->position.magnitude) {
+  else if (obj->position.distance <
+           this->trackedObjects[farthestObjIx]->position.distance) {
     delete this->trackedObjects[farthestObjIx];
     this->trackedObjects[farthestObjIx] = obj;
     obj->id = availableSlotIx;
@@ -266,9 +266,9 @@ InterestingThing *Perception::GetMostInterestingThing() {
   for (unsigned char objIx = 0; objIx < maxObjectCount; objIx++) {
     InterestingThing *obj = this->trackedObjects[objIx];
     if (obj != nullptr) {
-      if (obj->position.magnitude < closestDistance) {
+      if (obj->position.distance < closestDistance) {
         closestObject = obj;
-        closestDistance = obj->position.magnitude;
+        closestDistance = obj->position.distance;
       }
     }
   }
diff --git a/TrackedObject.cpp b/TrackedObject.cpp
index 71e3fb1..752e79f 100644
--- a/TrackedObject.cpp
+++ b/TrackedObject.cpp
@@ -19,8 +19,7 @@ InterestingThing::InterestingThing(Sensor *sensor, Spherical position) {
 bool InterestingThing::IsTheSameAs(InterestingThing *otherObj) {
   if (id != 0 && id == otherObj->id)
     return true;
-  if (fabsf(position.magnitude - otherObj->position.magnitude) >
-      equalityDistance)
+  if (fabsf(position.distance - otherObj->position.distance) > equalityDistance)
     return false;
   if (fabsf(position.horizontalAngle - otherObj->position.horizontalAngle) >
       equalityAngle)
diff --git a/VectorAlgebra b/VectorAlgebra
index 276d293..7810691 160000
--- a/VectorAlgebra
+++ b/VectorAlgebra
@@ -1 +1 @@
-Subproject commit 276d293c9b02b6d995bc7e951613e94d7a106ac2
+Subproject commit 78106912a9e80c1ace5533615cab0bd4a00657a0