diff --git a/platform/ios/CHANGELOG.md b/platform/ios/CHANGELOG.md
index 0e28bf153d0..6f6daf6be0d 100644
--- a/platform/ios/CHANGELOG.md
+++ b/platform/ios/CHANGELOG.md
@@ -2,6 +2,10 @@
 
 Mapbox welcomes participation and contributions from everyone. Please read [CONTRIBUTING.md](../../CONTRIBUTING.md) to get started.
 
+## 3.4.1
+
+* Fixed an issue causing MGLMapView’s `camera`’s `heading` to be set to a negative value, indicating an undefined heading, when the map view faces northwest. The heading is now wrapped to between zero and 360 degrees, for consistency with MGLMapView’s `direction` property. ([#7724](https://github.com/mapbox/mapbox-gl-native/pull/7724))
+
 ## 3.4.0
 
 ### Packaging
diff --git a/platform/ios/src/MGLMapView.mm b/platform/ios/src/MGLMapView.mm
index ba40997bc3c..acc6a3f13c7 100644
--- a/platform/ios/src/MGLMapView.mm
+++ b/platform/ios/src/MGLMapView.mm
@@ -2625,7 +2625,7 @@ - (MGLMapCamera *)cameraForCameraOptions:(const mbgl::CameraOptions &)cameraOpti
 {
     CLLocationCoordinate2D centerCoordinate = MGLLocationCoordinate2DFromLatLng(cameraOptions.center ? *cameraOptions.center : _mbglMap->getLatLng());
     double zoomLevel = cameraOptions.zoom ? *cameraOptions.zoom : self.zoomLevel;
-    CLLocationDirection direction = cameraOptions.angle ? -MGLDegreesFromRadians(*cameraOptions.angle) : self.direction;
+    CLLocationDirection direction = cameraOptions.angle ? mbgl::util::wrap(-MGLDegreesFromRadians(*cameraOptions.angle), 0., 360.) : self.direction;
     CGFloat pitch = cameraOptions.pitch ? MGLDegreesFromRadians(*cameraOptions.pitch) : _mbglMap->getPitch();
     CLLocationDistance altitude = MGLAltitudeForZoomLevel(zoomLevel, pitch, centerCoordinate.latitude, self.frame.size);
     return [MGLMapCamera cameraLookingAtCenterCoordinate:centerCoordinate fromDistance:altitude pitch:pitch heading:direction];
diff --git a/platform/ios/uitest/MapViewTests.m b/platform/ios/uitest/MapViewTests.m
index 41ea5446ef5..21310b47a60 100644
--- a/platform/ios/uitest/MapViewTests.m
+++ b/platform/ios/uitest/MapViewTests.m
@@ -260,7 +260,7 @@ - (void)testPanDisabled {
                                @"disabling pan gesture should disallow horizontal panning");
 }
 
-- (void)testRotate {
+- (void)testRotateClockwise {
     CLLocationDirection startAngle = tester.mapView.direction;
 
     XCTAssertNotEqual(startAngle,
@@ -274,6 +274,21 @@ - (void)testRotate {
                                 @"rotating map should change angle");
 }
 
+- (void)testRotateCounterclockwise {
+    CLLocationDirection startAngle = tester.mapView.direction;
+    
+    XCTAssertNotEqual(startAngle,
+                      -45,
+                      @"start angle must not be destination angle");
+    
+    [tester.mapView twoFingerRotateAtPoint:tester.mapView.center angle:-45];
+    
+    XCTAssertGreaterThanOrEqual(fabs(startAngle - tester.mapView.direction),
+                                20,
+                                @"rotating map should change angle");
+    XCTAssertGreaterThan(tester.mapView.camera.heading, 0, @"camera should not go negative");
+}
+
 - (void)testRotateDisabled {
     tester.mapView.rotateEnabled = NO;
     CLLocationDirection startAngle = tester.mapView.direction;
diff --git a/platform/macos/CHANGELOG.md b/platform/macos/CHANGELOG.md
index d2f5d1ccab6..6f5c41feb08 100644
--- a/platform/macos/CHANGELOG.md
+++ b/platform/macos/CHANGELOG.md
@@ -1,5 +1,11 @@
 # Changelog for Mapbox macOS SDK
 
+## 0.3.1
+
+This version of the Mapbox macOS SDK corresponds to version 3.4.1 of the Mapbox iOS SDK. The two SDKs have very similar feature sets. The main differences are the lack of user location tracking and annotation views. Some APIs have been adapted to macOS conventions, particularly the use of NSPopover for callout views.
+
+* Fixed an issue causing MGLMapView’s `camera`’s `heading` to be set to a negative value, indicating an undefined heading, when the map view faces northwest. The heading is now wrapped to between zero and 360 degrees, for consistency with MGLMapView’s `direction` property. ([#7724](https://github.com/mapbox/mapbox-gl-native/pull/7724))
+
 ## 0.3.0
 
 This version of the Mapbox macOS SDK corresponds to version 3.4.0 of the Mapbox iOS SDK. The two SDKs have very similar feature sets. The main differences are the lack of user location tracking and annotation views. Some APIs have been adapted to macOS conventions, particularly the use of NSPopover for callout views.
diff --git a/platform/macos/src/MGLMapView.mm b/platform/macos/src/MGLMapView.mm
index 3deb7db577b..2b0d5f4bc88 100644
--- a/platform/macos/src/MGLMapView.mm
+++ b/platform/macos/src/MGLMapView.mm
@@ -1249,7 +1249,7 @@ - (MGLMapCamera *)cameraThatFitsCoordinateBounds:(MGLCoordinateBounds)bounds edg
 - (MGLMapCamera *)cameraForCameraOptions:(const mbgl::CameraOptions &)cameraOptions {
     CLLocationCoordinate2D centerCoordinate = MGLLocationCoordinate2DFromLatLng(cameraOptions.center ? *cameraOptions.center : _mbglMap->getLatLng());
     double zoomLevel = cameraOptions.zoom ? *cameraOptions.zoom : self.zoomLevel;
-    CLLocationDirection direction = cameraOptions.angle ? -MGLDegreesFromRadians(*cameraOptions.angle) : self.direction;
+    CLLocationDirection direction = cameraOptions.angle ? mbgl::util::wrap(-MGLDegreesFromRadians(*cameraOptions.angle), 0., 360.) : self.direction;
     CGFloat pitch = cameraOptions.pitch ? MGLDegreesFromRadians(*cameraOptions.pitch) : _mbglMap->getPitch();
     CLLocationDistance altitude = MGLAltitudeForZoomLevel(zoomLevel, pitch,
                                                           centerCoordinate.latitude,