Issue #52. Typo in comments.
Issue #52. Typo in comments.

Sample code for residual() was incorrect. I added using the mod
operator to handle any abs(angle) > 2pi.

aitatanit/filterpy,rlabbe/filterpy,rlabbe/filterpy,BrianGasberg/filterpy,aitatanit/filterpy,BrianGasberg/filterpy