From baa3e802ee1794ee5af5bbd6a0625ec73dcdb862 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Mon, 2 Feb 2015 16:50:30 -0800
Subject: [PATCH] AC_WPNav: clean up atan2

---
 libraries/AC_WPNav/AC_Circle.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 0b09fe62d9..48accacea9 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -246,7 +246,7 @@ void AC_Circle::init_start_angle(bool use_heading)
             _angle = wrap_PI(_ahrs.yaw-PI);
         } else {
             // get bearing from circle center to vehicle in radians
-            float bearing_rad = ToRad(90) + fast_atan2(-(curr_pos.x-_center.x), curr_pos.y-_center.y);
+            float bearing_rad = fast_atan2(curr_pos.y-_center.y,curr_pos.x-_center.x);
             _angle = wrap_PI(bearing_rad);
         }
     }