diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.cpp
index 1521737c2..dbf5256a5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.cpp
@@ -167,13 +167,16 @@ float AInertialMeasurementUnit::ComputeCompass()
 {
   // Magnetometer: orientation with respect to the North in rad
   const FVector ForwVect = GetActorForwardVector().GetSafeNormal2D();
-  float Compass = std::acos(FVector::DotProduct(CarlaNorthVector, ForwVect));
+  const float DotProd = FVector::DotProduct(CarlaNorthVector, ForwVect)
 
+  // We check if the dot product is higher than 1.0 due to numerical error
+  if (DotProd >= 1.00f)
+    return 0.0f;
+
+  const float Compass = std::acos(DotProd);
   // Keep the angle between [0, 2pi)
   if (FVector::CrossProduct(CarlaNorthVector, ForwVect).Z < 0.0f)
-  {
-    Compass = carla::geom::Math::Pi2<float>() - Compass;
-  }
+    return carla::geom::Math::Pi2<float>() - Compass;
 
   return Compass;
 }