//! @return the sphero's heading without relying on vision - before vision is primed this appears more correct private float ComputeSpheroHeadingCalibration() { const float angularCorrection = -90.0f; // get the sphero position data to work out the angle to the sphero Vector3 spheroPosition = VisionUtils.s_spheroToUnityTransform * SpheroNativePosition(); float angleToSphero = Mathf.Atan2(spheroPosition.z, spheroPosition.x) * Mathf.Rad2Deg; return(sphero.ApplyCalibrationToHeading(SpheroYaw) + angleToSphero + angularCorrection); }