+- Possible inits method.
+- Number of cusps.
+
+### Changed
+- Return 10 possible goals (5m together) as default.
+
+### Fixed
+- Heading overflow/underflow.
+- Negative discriminant.
+- Parallel parking slot entry find.
+- Guess goal method for angled perpendicular parking slots. `guess_gc` method
+ now decides if the parking will be forward or backward.
+- Perpendicular parking. Not dependent on `fer_perpendicular` anymore.
+- Guess goal car for perpendicular parking.
+
+### Removed
+- Unit tests removed in `f97dfa1`. Convert it and update tests in the future.