Plane:adjust CTUN.Pitch to remove PITCH_TRIM

fix
Hwurzburg · Jan 28, 2025 · 35b7417 · 35b7417
1 parent 4e12b4e
commit 35b7417
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
@@ -102,13 +102,19 @@ void Plane::Log_Write_Control_Tuning()
         synthetic_airspeed = logger.quiet_nan();
     }
 
+    int16_t pitch = ahrs.pitch_sensor - g.pitch_trim * 100.0f;
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.in_vtol_mode()) {
+    pitch = ahrs.pitch_sensor;
+    }
+#endif      
     struct log_Control_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
         time_us         : AP_HAL::micros64(),
         nav_roll_cd     : (int16_t)nav_roll_cd,
         roll            : (int16_t)ahrs.roll_sensor,
         nav_pitch_cd    : (int16_t)nav_pitch_cd,
-        pitch           : (int16_t)ahrs.pitch_sensor,
+        pitch           : pitch,
         throttle_out    : SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
         rudder_out      : SRV_Channels::get_output_scaled(SRV_Channel::k_rudder),
         throttle_dem    : TECS_controller.get_throttle_demand(),