diff --git a/src/main/mw.c b/src/main/mw.c
index e779c4542..1edd6441e 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -204,10 +204,21 @@ void filterRc(void){
 }
 
 void scaleRcCommandToFpvCamAngle(void) {
+    //recalculate sin/cos only when masterConfig.rxConfig.fpvCamAngleDegrees changed
+    static uint8_t lastFpvCamAngleDegrees = 0;
+    static float cosFactor = 1.0;
+    static float sinFactor = 0.0;
+
+    if (lastFpvCamAngleDegrees != masterConfig.rxConfig.fpvCamAngleDegrees){
+        lastFpvCamAngleDegrees = masterConfig.rxConfig.fpvCamAngleDegrees;
+        cosFactor = cos_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
+        sinFactor = sin_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
+    }
+
     int16_t roll = rcCommand[ROLL];
     int16_t yaw = rcCommand[YAW];
-    rcCommand[ROLL] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll - sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw, -500, 500);
-    rcCommand[YAW] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw + sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll, -500, 500);
+    rcCommand[ROLL] = constrain(roll * cosFactor -  yaw * sinFactor, -500, 500);
+    rcCommand[YAW]  = constrain(yaw  * cosFactor + roll * sinFactor, -500, 500);
 }
 
 void annexCode(void)