diff --git a/src/CYdLidar.cpp b/src/CYdLidar.cpp
index 390cf27..124aed6 100644
--- a/src/CYdLidar.cpp
+++ b/src/CYdLidar.cpp
@@ -136,7 +136,7 @@ bool  CYdLidar::doProcessSimple(LaserScan &outscan,LaserScan &syncscan, PointClo
             for( ; i < count; i++) {
                 if ((nodes[i].distance_q) != 0) {
                     float angle = (float)((nodes[i].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f);
-                    if(reversion&&m_Reversion){
+                    if(reversion&&!m_Reversion){
                        angle=angle+180;
                        if(angle>=360){ angle=angle-360;}
                         nodes[i].angle_q6_checkbit = ((uint16_t)(angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT;