diff --git a/toid_behaviors/src/approach_acorns.cpp b/toid_behaviors/src/approach_acorns.cpp
index b022e02..3c7cd8b 100644
--- a/toid_behaviors/src/approach_acorns.cpp
+++ b/toid_behaviors/src/approach_acorns.cpp
@@ -116,8 +116,8 @@ void ApproachAcorns::acorn_position_cb(PoseStamped::ConstSharedPtr msg)
 
   std::lock_guard _lock(mutex_);
 
-  const double dx = initial_pose_.position.x - pose_global.pose.position.x;
-  const double dy = initial_pose_.position.y - pose_global.pose.position.y;
+  const double dx = pose_global.pose.position.x - initial_pose_.position.x;
+  const double dy = pose_global.pose.position.y - initial_pose_.position.y;
   double yaw_to_goal = std::atan2(dy,dx);
 
   tf2::convert(tf2::Quaternion::createFromRPY(0, 0, yaw_to_goal), pose_global.pose.orientation);