am 477c4fee: Merge "[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." into gingerbread

* commit '477c4feee2f0922dbc8952639cc12987d5cdce04':
  [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.