Im having a problem with the rotation angle. While im working in TOP view ive got it working perfectly.
However if i work from the bottom the angle is inverse. I believe this angle is calculated from TOP without caring where you want it to work.
The code is rt_cinc = atan2(sub_m2$, sub_m1$)

If anyone could tell me what the sub_m values are and whats the best way to solve my issue.