From c67882b243caec59cd274571edf21cd8583f29f1 Mon Sep 17 00:00:00 2001
From: Vishal Adhikari <40205726+vishal-adhikari@users.noreply.github.com>
Date: Sun, 9 May 2021 04:10:48 +0530
Subject: [PATCH] 360 on  north direction instead of West

---
 NazaDecoder.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/NazaDecoder.cpp b/NazaDecoder.cpp
index e4248ae..056442f 100644
--- a/NazaDecoder.cpp
+++ b/NazaDecoder.cpp
@@ -211,7 +211,8 @@ uint8_t NazaDecoder::decode(int16_t input) {
             if (y < magYMin) {
                 magYMin = y;
             }
-            heading = computeVectorAngle(y - ((magYMax + magYMin) / 2), x - ((magXMax + magXMin) / 2));
+            heading = -atan2(y - ((magYMax + magYMin) / 2), x - ((magXMax + magXMin) / 2)) * 180.0 / M_PI;
+            if(heading < 0) heading += 360.0; 
         } else if (messageId == NAZA_MESSAGE_MODULE_VERSION_TYPE) {
             firmwareVersion.version = pack4(NAZA_MESSAGE_POS_FW, 0x00);
             hardwareVersion.version = pack4(NAZA_MESSAGE_POS_HW, 0x00);