Agra-GPS / FreePilot_V2-3

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Dependencies:   FreePilot PinDetect mbed-src

Fork of FreePilot_V2-2 by Agra-GPS

Diff: utilities.cpp

Revision:
57:0299098b2d0e
Parent:
56:456d454d9ced
--- a/utilities.cpp	Sun Mar 29 16:03:18 2015 +0000
+++ b/utilities.cpp	Wed Apr 01 01:19:30 2015 +0000
@@ -5,7 +5,11 @@
 {
     double angle = ((int)((angle2-90 )* -1 + 360) + 180) % 360 - 180;
     double diff_angle = angle1 - angle;
-    diff_angle = ((int)diff_angle + 180) % 360 - 180;
+    
+    diff_angle = angle_normal(diff_angle,-180,180);
+   // diff_angle = ((int)diff_angle + 180) % 360 - 180;
+    
+    
     if ( abs(diff_angle) > 90 ) {
         if ( (abs(360 - diff_angle)) > 90 ) {
             diff_angle = abs(360 - diff_angle);