Use a macro for the common approach angle idiom #88
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m->faceAngle[1] = m->intendedYaw - approach_s32((s16)(m->intendedYaw - m->faceAngle[1]), 0, 0x800, 0x800);becomes
m->faceAngle[1] = approach_angle(m->faceAngle[1], m->intendedYaw, 0x800);