From 04e91e8186bc18baf4e5fc9d93f4ac3fe9cc2e08 Mon Sep 17 00:00:00 2001
From: Paulo Dias <paulo.sousa.dias@gmail.com>
Date: Thu, 3 Oct 2024 18:26:39 +0100
Subject: [PATCH] comm/manager/imc/ImcMsgManager: Fix processing heading on
 StateReport message.

---
 src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java
index a637567816..1b315e4f01 100644
--- a/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java
+++ b/src/java/pt/lsts/neptus/comm/manager/imc/ImcMsgManager.java
@@ -852,7 +852,7 @@ private void processStateReport(MessageInfo info, StateReport msg, ArrayList<IMC
         double lon = msg.getLongitude();
         double depth = msg.getDepth() == 0xFFFF ? -1 : msg.getDepth() / 10.0;
         // double altitude = msg.getAltitude() == 0xFFFF ? -1 : msg.getAltitude() / 10.0;
-        double heading = ((double)msg.getHeading() / 65535.0) * 360;
+        double heading = Math.toDegrees(AngleUtils.nomalizeAngleRads2Pi(((double) msg.getHeading() / 65535.0) * Math.PI * 2));
         double speedMS = msg.getSpeed() / 100.;
         NeptusLog.pub().info("Received report from "+msg.getSourceName());