From f5648a825994af4f31a8b0eb7ac2ce9baf7aeee1 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Tue, 31 Oct 2017 10:23:31 -0400
Subject: [PATCH] Sub: clear roll/pitch trim when setting neutral controls

---
 ArduSub/joystick.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp
index a402908339..ace614359a 100644
--- a/ArduSub/joystick.cpp
+++ b/ArduSub/joystick.cpp
@@ -600,6 +600,10 @@ void Sub::set_neutral_controls()
     }
 
     hal.rcin->set_overrides(channels, 10);
+
+    // Clear pitch/roll trim settings
+    pitchTrim = 0;
+    rollTrim  = 0;
 }
 
 void Sub::clear_input_hold()