diff --git a/libraries/AP_L1_Control/AP_L1_Control.cpp b/libraries/AP_L1_Control/AP_L1_Control.cpp
index b685895194..2ff3696c53 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.cpp
+++ b/libraries/AP_L1_Control/AP_L1_Control.cpp
@@ -313,7 +313,7 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
         Nu1 += _L1_xtrack_i;
 
         Nu = Nu1 + Nu2;
-        _nav_bearing = atan2f(AB.y, AB.x) + Nu1; // bearing (radians) from AC to L1 point
+        _nav_bearing = wrap_PI(atan2f(AB.y, AB.x) + Nu1);   // bearing (radians) from AC to L1 point
     }
 
     _prevent_indecision(Nu);