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Merge pull request #171 from atomiclama/fpvCanAngleFix 

fix for fpv cam angle
This commit is contained in:
borisbstyle 2016-02-09 15:25:55 +01:00
parent dd2478f582 69b25af867
commit de3ea1c439
1 changed files with 1 additions and 1 deletions
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2
src/main/mw.c
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@ -219,7 +219,7 @@ void filterRc(void){
void scaleRcCommandToFpvCamAngle(void) {
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[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);
}