* commit 'b20c2e7ca03f5ef2694b20ff9a7a10a7249eb936': [3163098] Fix bug in angleChange funtion which caused the returned angle change to be zeroall the time. The fix is to use PrevR instead of computing the difference between R and R.
* commit 'b20c2e7ca03f5ef2694b20ff9a7a10a7249eb936': [3163098] Fix bug in angleChange funtion which caused the returned angle change to be zeroall the time. The fix is to use PrevR instead of computing the difference between R and R.