From d9dedf3fe8bca8de5e614875885ace9d555d88e2 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 14 Dec 2022 08:54:12 +0000
Subject: [PATCH] Copter: autoyaw: weathervane: include roll trim for helis

---
 ArduCopter/autoyaw.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/autoyaw.cpp b/ArduCopter/autoyaw.cpp
index 4cd9d4c0c7..6853789ee3 100644
--- a/ArduCopter/autoyaw.cpp
+++ b/ArduCopter/autoyaw.cpp
@@ -350,7 +350,7 @@ void Mode::AutoYaw::update_weathervane(const int16_t pilot_yaw_cds)
 
     float yaw_rate_cds;
     if (copter.g2.weathervane.get_yaw_out(yaw_rate_cds, pilot_yaw_cds, copter.flightmode->get_alt_above_ground_cm()*0.01,
-                                                                       copter.pos_control->get_roll_cd(),
+                                                                       copter.pos_control->get_roll_cd()-copter.attitude_control->get_roll_trim_cd(),
                                                                        copter.pos_control->get_pitch_cd(),
                                                                        copter.flightmode->is_taking_off(),
                                                                        copter.flightmode->is_landing())) {