From 1930732403e7d8c809197141cbef504d85c4b248 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 28 Nov 2012 22:54:43 +0100
Subject: [PATCH] Fixed yaw representation when translating from XPlane

---
 src/comm/QGCXPlaneLink.cc | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index 767d3622b..64c3f1a7c 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -450,6 +450,13 @@ void QGCXPlaneLink::readBytes()
                 pitch = p.f[0] / 180.0f * M_PI;
                 roll = p.f[1] / 180.0f * M_PI;
                 yaw = p.f[2] / 180.0f * M_PI;
+                // X-Plane expresses yaw as 0..2 PI
+                if (yaw > M_PI) {
+                    yaw -= 2.0 * M_PI;
+                }
+                if (yaw < -M_PI) {
+                    yaw += 2.0 * M_PI;
+                }
                 emitUpdate = true;
             }
             else if ((xPlaneVersion == 9 && p.index == 17))
-- 
2.22.0