Restore rcCommand based cam angle mix as per 2.9
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c75201614d
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@ -203,10 +203,10 @@ void scaleRcCommandToFpvCamAngle(void) {
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sinFactor = sin_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
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}
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int16_t roll = setpointRate[ROLL];
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int16_t yaw = setpointRate[YAW];
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setpointRate[ROLL] = constrain(roll * cosFactor - yaw * sinFactor, -500, 500);
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setpointRate[YAW] = constrain(yaw * cosFactor + roll * sinFactor, -500, 500);
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int16_t roll = rcCommand[ROLL];
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int16_t yaw = rcCommand[YAW];
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rcCommand[ROLL] = constrain(roll * cosFactor - yaw * sinFactor, -500, 500);
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rcCommand[YAW] = constrain(yaw * cosFactor + roll * sinFactor, -500, 500);
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}
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void processRcCommand(void)
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@ -263,13 +263,13 @@ void processRcCommand(void)
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}
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if (readyToCalculateRate || isRXDataNew) {
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for (int axis = 0; axis < 3; axis++) setpointRate[axis] = calculateSetpointRate(axis, rcCommand[axis]);
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isRXDataNew = false;
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// Scaling of AngleRate to camera angle (Mixing Roll and Yaw)
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if (masterConfig.rxConfig.fpvCamAngleDegrees && IS_RC_MODE_ACTIVE(BOXFPVANGLEMIX) && !FLIGHT_MODE(HEADFREE_MODE))
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scaleRcCommandToFpvCamAngle();
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for (int axis = 0; axis < 3; axis++) setpointRate[axis] = calculateSetpointRate(axis, rcCommand[axis]);
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isRXDataNew = false;
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}
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}
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