From 8c18a607660ed48472cf9735e059f186b022dd90 Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Tue, 4 Dec 2012 14:50:14 -0500
Subject: [PATCH] ACM: Small fix to Yaw Look Ahead

---
 ArduCopter/navigation.pde | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 42f4ce350a..2efbe0b18c 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -132,6 +132,7 @@ static void calc_velocity_and_position(){
 
 static void calc_ground_bearing(){
 	ground_bearing = atan2( lat_speed , lon_speed ) * DEGX100;
+	ground_bearing = wrap_360(ground_bearing);						// atan2 returns a value of -pi to +pi, so we need to wrap this.
 }
 
 //****************************************************************