From fb9f695d2f04642c28c2cdb596ea33d54e34d607 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 25 Oct 2017 15:41:47 +0900
Subject: [PATCH] Rover: fix use-pivot-steering

absolute yaw error should be used
---
 APMrover2/Steering.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/APMrover2/Steering.cpp b/APMrover2/Steering.cpp
index e1694ee818..247fa30163 100644
--- a/APMrover2/Steering.cpp
+++ b/APMrover2/Steering.cpp
@@ -12,7 +12,7 @@ bool Rover::use_pivot_steering(float yaw_error_cd)
     }
 
     // calc bearing error
-    const float yaw_error = yaw_error_cd / 100.0f;
+    const float yaw_error = fabsf(yaw_error_cd) * 0.01f;
 
     // if error is larger than pivot_turn_angle start pivot steering
     if (yaw_error > g.pivot_turn_angle) {