TREK1000 - the math behind TWR

Hi all :slight_smile:

I’ve got TREK1000. I want to ask about the math behind TWR in this set.

Most of the sources use simple equations do get distance like here:

But I found an “Asymmetric TWR TOF formula” (page 4):

In can see that these formulas are different, so here’s my question: which one is implemented in my TREK1000?

Maybe someone had a similar problem:slight_smile: