From bfec265d2e874142d4f62a8b9c6756282a98e8aa Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Sat, 15 Jun 2024 11:00:32 -0500
Subject: [PATCH] 3D-mode fix

---
 src/main/flight/mixer.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 66d510837a..ad4aa6c9b4 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -865,13 +865,13 @@ void mixThingsUp(const float scaledAxisPidRoll, const float scaledAxisPidPitch,
     float controllerMixMin = 0, controllerMixMax = 0;
 
     for (int i = 0; i < motorCount; i++) {
-        float yawMixVal = controllerMix3DModeSign * scaledAxisPidYaw * currentMixer[i].yaw;
+        float yawMixVal = scaledAxisPidYaw * currentMixer[i].yaw;
         if (yawMixVal > yawMixMax) {
             yawMixMax = yawMixVal;
         } else if (yawMixVal < yawMixMin) {
             yawMixMin = yawMixVal;
         }
-        yawMix[i] = yawMixVal;
+        yawMix[i] = yawMixVal * controllerMix3DModeSign;
 
         float rollPitchMixVal = scaledAxisPidRoll * currentMixer[i].roll + scaledAxisPidPitch * currentMixer[i].pitch;
         if (rollPitchMixVal > rollPitchMixMax) {
@@ -879,15 +879,15 @@ void mixThingsUp(const float scaledAxisPidRoll, const float scaledAxisPidPitch,
         } else if (rollPitchMixVal < rollPitchMixMin) {
             rollPitchMixMin = rollPitchMixVal;
         }
-        rollPitchMix[i] = rollPitchMixVal;
+        rollPitchMix[i] = rollPitchMixVal * controllerMix3DModeSign;
 
-        float controllerMixVal = controllerMix3DModeSign * (rollPitchMixVal + yawMixVal);
+        float controllerMixVal = (rollPitchMixVal + yawMixVal);
         if (controllerMixVal > controllerMixMax) {
             controllerMixMax = controllerMixVal;
         } else if (controllerMixVal < controllerMixMin) {
             controllerMixMin = controllerMixVal;
         }
-        controllerMix[i] = controllerMixVal;
+        controllerMix[i] = controllerMixVal * controllerMix3DModeSign;
     }
 
     controllerMixRange = controllerMixMax - controllerMixMin; // measures how much the controller is trying to compensate