diff --git a/CHANGELOG.md b/CHANGELOG.md
index 145615f7..7094ae1a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,7 @@
 ## Latest
 
+. Fixed cardinal direction in HUD in carla_manual_control
+
 ## CARLA-ROS-Bridge 0.9.12
 
 *   Fixed scenario runner node shutdown for foxy
diff --git a/carla_manual_control/src/carla_manual_control/carla_manual_control.py b/carla_manual_control/src/carla_manual_control/carla_manual_control.py
index 5cc25d15..357ef533 100755
--- a/carla_manual_control/src/carla_manual_control/carla_manual_control.py
+++ b/carla_manual_control/src/carla_manual_control/carla_manual_control.py
@@ -423,10 +423,10 @@ def update_info_text(self):
         x, y, z = self.x, self.y, self.z
         yaw = self.yaw
 
-        heading = 'N' if abs(yaw) < 89.5 else ''
-        heading += 'S' if abs(yaw) > 90.5 else ''
-        heading += 'E' if 179.5 > yaw > 0.5 else ''
-        heading += 'W' if -0.5 > yaw > -179.5 else ''
+        heading = 'N' if 179.5 > yaw > 0.5 else ''
+        heading += 'S' if -0.5 > yaw > -179.5 else ''
+        heading += 'E' if 89.5 > yaw > -89.5 else ''
+        heading += 'W' if -90.5 > yaw or yaw > 90.5 else ''
         fps = 0
 
         time = str(datetime.timedelta(seconds=self.node.get_time()))[:10]