diff --git a/src/control.h b/src/control.h
index 4f46259..1b6bf4f 100644
--- a/src/control.h
+++ b/src/control.h
@@ -134,7 +134,6 @@ INLINE void vehicle_hard_right(trial *t);
 
 INLINE timestamp getcurts(trial *t);
 INLINE double fixangle(double a);
-INLINE double fixdirection(double a);
 
 /* needed by parser */
 telemetry* telemetry_new();
@@ -232,15 +231,9 @@ INLINE timestamp getcurts(trial *t) {
 }
 
 INLINE double fixangle(double a) {
-	while (a < -180) a += 360;
+	while (a <= -180) a += 360;
 	while (a > 180) a -= 360;
 	return a;
 }
 
-INLINE double fixdirection(double a) {
-	while (a < 0) a += 360;
-	while (a > 360) a -= 360;
-	return a;
-}
-
 #endif
diff --git a/src/lookahead.c b/src/lookahead.c
index 43d9e73..ea16c07 100644
--- a/src/lookahead.c
+++ b/src/lookahead.c
@@ -85,10 +85,10 @@ void sim_update(trial* t){
 	radar_dgl(t,tm->ts);
 	
 	/*calculate misspredict*/
-	fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f, steps=%u\n",
+	fprintf(stderr, "Miss predict: dx=%f, dy=%f, ddir=%f (%f %f), steps=%u\n",
 		t->sim.tm.vehicle.x - t->vehicle.x,
 		t->sim.tm.vehicle.y - t->vehicle.y,
-		t->sim.tm.vehicle.dir - t->vehicle.dir,
+		fixangle(t->sim.tm.vehicle.dir - t->vehicle.dir),
 		t->sim.steps);
 // 	fprintf(stderr, "w = %f, dir = %f\n", t->sim.tm.vehicle.w, t->sim.tm.vehicle.dir);
 	fprintf(stderr, "speed = %f\n", t->sim.tm.vehicle.speed);
@@ -158,7 +158,7 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
 	after->y = tmp.y;
 	after->speed = tmp.speed;
 	after->w = tmp.w;
-	after->dir = fixdirection(tmp.dir);
+	after->dir = fixangle(tmp.dir);
 	return 0;	
 }