function bearing = getbearingA (x,A,i)

         P1A = [A(1) - x(1),0, A(3) - x(2)];
         P1Zplus = [0,0,1]; 
        
         bearingA_raw = getbearingbetween(P1A,P1Zplus);
         bearing = convertangleto360(bearingA_raw - i);