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AP_AHRS: View: get_gyro_latest should include pitch trim. #20059

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merged 1 commit into from Feb 15, 2022
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AP_AHRS: View: get_gyro_latest should include pitch trim. #20059

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4 changes: 1 addition & 3 deletions libraries/AP_AHRS/AP_AHRS_View.cpp
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Expand Up @@ -84,9 +84,7 @@ void AP_AHRS_View::update()

// return a smoothed and corrected gyro vector using the latest ins data (which may not have been consumed by the EKF yet)
Vector3f AP_AHRS_View::get_gyro_latest(void) const {
Vector3f gyro_latest = ahrs.get_gyro_latest();
gyro_latest.rotate(rotation);
return gyro_latest;
return rot_view * ahrs.get_gyro_latest();
}

// rotate a 2D vector from earth frame to body frame
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