Hover platform troubles

[Qanael]

I have a little thruster-powered platform, controlled by an E2 chip which receives the required position and angle. Now, the hovering is nice and smooth, until the yaw gets to 180 degrees. Then my precise little platform becomes a ballet dancer.

I tried to fix it by turning the angles into a 0-360 range instead of -180 to 180, but now the problem is at 0 degrees. Here's the code snippet:

TYaw = Mul*2*(2*(ReqAngle:yaw() - Yaw) - 10*angnorm($Yaw))

I've been thinking maybe I could use the sine of the angle difference to power the thruster, but I'm not so sure that would work.

EDIT: It did work. It's kinda slow and the last degree or so takes forever, but it works.

[chinoto]

Your code seems randomly thrown together, so I'll just redo the whole thing. (It would be helpful if you gave all the code)

TYaw=angnorm(ReqAngle:yaw()-entity():angles():yaw)-entity():angVel():yaw()

If the thrust multiplier is too high then it will spaz out, I recommend dividing entity():angVel():yaw() by whatever your thrust multiplier is.