[LinuxCNC/linuxcnc Issue#389] gomath.c error

In gomath.c there are 2 lines are not correct:
https://github.com/LinuxCNC/linuxcnc/blob/master/src/libnml/posemath/gomath.c#L423
https://github.com/LinuxCNC/linuxcnc/blob/master/src/libnml/posemath/gomath.c#L443
they should be “-PMPI2″
When i run puma560 (home setting: 0 0 0 0 90 0), the rpy angle were incorrect

This is what I expected to happen:

the Axis should display X=19.2, Y = 5.5, Z=9.4, A = 180, B=-90, C = 0

This is what happened instead:

the Axis displayed X=19.2, Y = 5.5, Z=9.4, A = 91.377, B=-90, C =88.623

#I’m using linuxcnc 2.8.0 pre