diff --git a/code/acting/src/acting/helper_functions.py b/code/acting/src/acting/helper_functions.py
index 2bd6e1d0..c64319e7 100755
--- a/code/acting/src/acting/helper_functions.py
+++ b/code/acting/src/acting/helper_functions.py
@@ -102,10 +102,10 @@ def calc_path_yaw(path: Path, idx: int) -> float:
     point_current = path.poses[idx]
     point_next: PoseStamped
     point_next = path.poses[idx + 1]
-    angle = math.atan2(point_next.pose.position.y
-                       - point_current.pose.position.y,
-                       point_next.pose.position.x
-                       - point_current.pose.position.x)
+    angle = math.atan2(point_next.pose.position.y -
+                       point_current.pose.position.y,
+                       point_next.pose.position.x -
+                       point_current.pose.position.x)
     return normalize_angle(angle)
 
 
diff --git a/code/test_planning_top/behavior_agent/src/behavior_agent/behaviours/maneuvers.py b/code/test_planning_top/behavior_agent/src/behavior_agent/behaviours/maneuvers.py
index 1c3ebe52..ed0dbbc0 100755
--- a/code/test_planning_top/behavior_agent/src/behavior_agent/behaviours/maneuvers.py
+++ b/code/test_planning_top/behavior_agent/src/behavior_agent/behaviours/maneuvers.py
@@ -91,18 +91,83 @@ def terminate(self, new_status):
 
 
 class Cruise(py_trees.behaviour.Behaviour):
+    """
+    This behaviour is the lowest priority one and will be executed when no
+    other behaviour is triggered. It doesn't do much, as in the normal cruising
+    the holding of the lane and speed control is done by different parts of the
+    project. It might be possible to put the activation/deactivation of the ACC
+    here.
+
+    speed control = acting via speed limits and target_speed
+    following the trajectory = acting
+    """
     def __init__(self, name):
+        """
+        Minimal one-time initialisation. A good rule of thumb is to only
+        include the initialisation relevant for being able to insert this
+        behaviour in a tree for offline rendering to dot graphs.
+
+        Other one-time initialisation requirements should be met via the
+        setup() method.
+
+         :param name: name of the behaviour
+        """
         super(Cruise, self).__init__(name)
 
     def setup(self, timeout):
+        """
+        Delayed one-time initialisation that would otherwise interfere with
+        offline rendering of this behaviour in a tree to dot graph or
+        validation of the behaviour's configuration.
+
+        :param timeout: an initial timeout to see if the tree generation is
+        successful
+        :return: True, as there is nothing to set up.
+        """
         return True
 
     def initialise(self):
+        """
+        When is this called?
+        The first time your behaviour is ticked and anytime the status is not
+        RUNNING thereafter.
+
+        What to do here?
+            Any initialisation you need before putting your behaviour to work.
+
+        This initializes the blackboard to be able to access data written to it
+        by the ROS topics.
+        """
         self.blackboard = py_trees.blackboard.Blackboard()
 
     def update(self):
+        """
+        When is this called?
+        Every time your behaviour is ticked.
+
+        What to do here?
+            - Triggering, checking, monitoring. Anything...but do not block!
+            - Set a feedback message
+            - return a py_trees.common.Status.[RUNNING, SUCCESS, FAILURE]
+
+        This behaviour doesn't do anything else than just keep running unless
+        there is a higher priority behaviour
+
+        :return: py_trees.common.Status.RUNNING, keeps the decision tree from
+        finishing
+        """
+        # rospy.loginfo("Cruising around")
         return py_trees.common.Status.RUNNING
 
     def terminate(self, new_status):
+        """
+        When is this called?
+        Whenever your behaviour switches to a non-running state.
+            - SUCCESS || FAILURE : your behaviour's work cycle has finished
+            - INVALID : a higher priority branch has interrupted, or shutting
+            down
+
+        writes a status message to the console when the behaviour terminates
+        """
         self.logger.debug("  %s [Foo::terminate().terminate()][%s->%s]" %
                           (self.name, self.status, new_status))