ArduPlane: fix using unsigned int for pitch_trim in centidegrees

ArduPilot · Dec 15, 2023 · b06dd5a · b06dd5a
1 parent e25e55f
commit b06dd5a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
@@ -209,7 +209,7 @@ float Plane::stabilize_pitch_get_pitch_out()
     const bool quadplane_in_transition = false;
 #endif
 
-    int32_t demanded_pitch = nav_pitch_cd + uint32_t(aparm.pitch_trim * 100) + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
+    int32_t demanded_pitch = nav_pitch_cd + int32_t(aparm.pitch_trim * 100.0) + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
     bool disable_integrator = false;
     if (control_mode == &mode_stabilize && channel_pitch->get_control_in() != 0) {
         disable_integrator = true;