From b2a100f41bd5f28a9ca297fbe29c71065c7e08db Mon Sep 17 00:00:00 2001
From: Hwurzburg <hwurzburg@yahoo.com>
Date: Wed, 28 Jul 2021 18:29:37 -0500
Subject: [PATCH] AP_OSD: correct OSD horizon for VTOL modes and TRIM_PITCH_CD
 in FW modes

---
 libraries/AP_OSD/AP_OSD_Screen.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
index 2282268cc6..2385978844 100644
--- a/libraries/AP_OSD/AP_OSD_Screen.cpp
+++ b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -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)) {