AP_TECS: fix incorrect reference to plane pitch_trim

ArduPilot · Dec 19, 2023 · cdfd337 · cdfd337
1 parent 62a9b7f
commit cdfd337
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
@@ -849,7 +849,7 @@ void AP_TECS::_update_throttle_without_airspeed(int16_t throttle_nudge)
     _pitch_demand_lpf.apply(_pitch_dem, _DT);
     const float pitch_demand_hpf = _pitch_dem - _pitch_demand_lpf.get();
     _pitch_measured_lpf.apply(_ahrs.pitch, _DT);
-    const float pitch_corrected_lpf = _pitch_measured_lpf.get() - radians(aparm.pitch_trim);
+    const float pitch_corrected_lpf = _pitch_measured_lpf.get();
     const float pitch_blended = pitch_demand_hpf + pitch_corrected_lpf;
 
     if (pitch_blended > 0.0f && _PITCHmaxf > 0.0f)