From b668c6f855a8b104a1a75d45ba57d06ac38a7ba1 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 25 Apr 2019 11:35:19 +0900
Subject: [PATCH] AC_Circle: improve target heading

---
 libraries/AC_WPNav/AC_Circle.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 634ae28836..31af41de00 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -142,8 +142,8 @@ void AC_Circle::update()
         // update position controller target
         _pos_control.set_xy_target(target.x, target.y);
 
-        // heading is 180 deg from vehicles target position around circle
-        _yaw = wrap_PI(_angle-M_PI) * DEGX100;
+        // heading is from vehicle to center of circle
+        _yaw = get_bearing_cd(_inav.get_position(), _center);
     } else {
         // set target position to center
         Vector3f target;