diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java b/photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java
index d04db786c..c0633a2e5 100644
--- a/photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TargetCalculations.java
@@ -42,6 +42,10 @@ public class TargetCalculations {
         if (isLandscape && minAreaRect.size.width < minAreaRect.size.height) angle += 90;
         else if (!isLandscape && minAreaRect.size.height < minAreaRect.size.width) angle += 90;
 
+        // Ensure skew is bounded on [-90, 90]
+        while (angle > 90) angle -= 180;
+        while (angle < -90) angle += 180;
+
         return angle;
     }
 
diff --git a/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java b/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
index 003a5e1af..6afcba9d6 100644
--- a/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
@@ -103,7 +103,7 @@ public class TargetCalculationsTest {
     public void testSkewCalculation() {
         // Setup
         var isLandscape = true;
-        var rect = new RotatedRect(new Point(), new Size(10, 5), -10);
+        var rect = new RotatedRect(new Point(), new Size(10, 5), 170);
 
         // Compute min area rect
         var points = new Point[4];