diff --git a/src/custom_planner.cpp b/src/custom_planner.cpp
index 3db0155..8dc515d 100755
--- a/src/custom_planner.cpp
+++ b/src/custom_planner.cpp
@@ -1164,7 +1164,7 @@ namespace custom_planner
       return a;
     };
 
-    double delta_angle = std::fabs(std::fabs(normalizeAngle(yaw_goal)) - std::fabs(normalizeAngle(angle)));
+    double delta_angle = std::fabs(normalizeAngle(yaw_goal) - normalizeAngle(angle));
     robot::log_warning("DEBUG 3: yaw_goal: %f, angle: %f, delta_angle: %f", yaw_goal, angle, delta_angle);
     return (delta_angle > (0.5 * M_PI));
   }