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AP_OSD: correct OSD horizon for VTOL modes and TRIM_PITCH_CD in FW modes

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Hwurzburg 2021-07-28 18:29:37 -05:00 committed by Andrew Tridgell
parent 289264f1dd
commit b2a100f41b
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_OSD/AP_OSD_Screen.cpp
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@ -40,6 +40,7 @@
#include <AP_VideoTX/AP_VideoTX.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Vehicle/AP_Vehicle.h>
#if APM_BUILD_TYPE(APM_BUILD_Rover)
#include <AP_WindVane/AP_WindVane.h>
#endif
@ -1455,8 +1456,10 @@ void AP_OSD_Screen::draw_horizon(uint8_t x, uint8_t y)
{
AP_AHRS &ahrs = AP::ahrs();
WITH_SEMAPHORE(ahrs.get_semaphore());
float roll = ahrs.roll;
float pitch = -ahrs.pitch;
float roll;
float pitch;
AP::vehicle()->get_osd_roll_pitch_rad(roll,pitch);
pitch *= -1;
//inverted roll AH
if (check_option(AP_OSD::OPTION_INVERTED_AH_ROLL)) {