AP_AHRS: View: get_gyro_latest should include pitch trim. #20059
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might help with/fix #15777 edit: seems not to. https://discord.com/channels/674039678562861068/783141293445480470/941966064651239435 |
tridge
approved these changes
Feb 14, 2022
tridge
approved these changes
Feb 15, 2022
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A long standing bug that means pitch trim is not applied to the latest gyro reading. This causes odd cross coupling effects if
Q_TRIM_PITCHis none 0. Latest gyro should use the same rotation as smoothed uses here:ardupilot/libraries/AP_AHRS/AP_AHRS_View.cpp
Line 68 in 5bb7b04
Flight tested on a Blackfly style tail sitter with 45 deg (ish) pitch trim. (IRL not SITL).
Spotted because the logged gyro in the
RATEmessage was not the same as that in thePIQmessages, one was using "old" and the other latest. With this patch they match.