From 9384d9ac441d658cac762ef71e52a61a18d5a80e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= <patrickelectric@gmail.com>
Date: Sat, 27 Jan 2018 15:53:16 -0800
Subject: [PATCH] QGC: Solve problem with limitAngleToPMPId when angle is
 bigger than PI
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
---
 src/QGC.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/QGC.cc b/src/QGC.cc
index 812099ab6..dcfa7e2d5 100644
--- a/src/QGC.cc
+++ b/src/QGC.cc
@@ -61,14 +61,14 @@ double limitAngleToPMPId(double angle)
         {
             while (angle < -M_PI)
             {
-                angle += M_PI;
+                angle += 2.0f * M_PI;
             }
         }
         else if (angle > M_PI)
         {
             while (angle > M_PI)
             {
-                angle -= M_PI;
+                angle -= 2.0f * M_PI;
             }
         }
     }
-- 
2.22.0