Mavlink ATTITUDE message yaw not matching specification

[nathanjel]

Current Behavior

Mavlink ATTITUDE message reports yaw in [0..2*PI] range. Message specification says it should be [-PI...PI].

Steps to Reproduce

1. Setup specific serial port as Mavlink
2. Connect to the specific serial port by Mavlink client (here python code that does to_json())
3. See the message, yaw is larger than PI:
   {"mavpackettype": "ATTITUDE", "time_boot_ms": 39887824, "roll": -0.01745329238474369, "pitch": -0.04014257341623306, "yaw": 4.0543999671936035, "rollspeed": 0.0, "pitchspeed": 0.0, "yawspeed": 0.0}

Expected behavior

Reported yaw value between [-PI...PI].

Suggested solution(s)

inav/src/main/telemetry/mavlink.c

Line 596 in c892036

DECIDEGREES_TO_RADIANS(attitude.values.yaw),

Change to

DECIDEGREES_TO_RADIANS((attitude.values.yaw > 1800) ? -(3600-attitude.values.yaw) : attitude.values.yaw),

Additional context

I can fix this and submit merge request. Before that I just want to confirm if this is not a "feature" driven by specific reasons.