ArduPlane: Correct OSD horizon for VTOL modes and TRIM_PITCH_CD in Fixed Wing

ArduPlane/ArduPlane.cpp

@@ -689,4 +689,19 @@ bool Plane::get_target_location(Location& target_loc)
 }
 #endif // ENABLE_SCRIPTING
 
+#if OSD_ENABLED
+// correct AHRS pitch for TRIM_PITCH_CD in non-VTOL modes, and return VTOL view in VTOL
+void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
+{
+   pitch = ahrs.pitch;
+   roll = ahrs.roll;
+   if (!quadplane.show_vtol_view()) {  // correct for TRIM_PITCH_CD
+      pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
+   } else {
+      pitch = quadplane.ahrs_view->pitch;
+      roll = quadplane.ahrs_view->roll;
+   }
+}
+#endif
+
 AP_HAL_MAIN_CALLBACKS(&plane);

ArduPlane/Plane.h

@@ -950,6 +950,9 @@ private:
 
     // ArduPlane.cpp
     void disarm_if_autoland_complete();
+# if OSD_ENABLED
+    void get_osd_roll_pitch_rad(float &roll, float &pitch) const override;
+#endif
     float tecs_hgt_afe(void);
     void efi_update(void);
     void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,