AP_Vehicle: correct OSD horizon for VTOL modes and TRIM_PITCH_CD in FW modes

libraries/AP_Vehicle/AP_Vehicle.cpp

@@ -403,6 +403,13 @@ void AP_Vehicle::publish_osd_info()
     nav_info.wp_number = mission->get_current_nav_index();
     osd->set_nav_info(nav_info);
 }
+
+void AP_Vehicle::get_osd_roll_pitch_rad(float &roll, float &pitch) const
+{
+    roll = ahrs.roll;
+    pitch = ahrs.pitch;
+}
+
 #endif
 
 AP_Vehicle *AP_Vehicle::_singleton = nullptr;

libraries/AP_Vehicle/AP_Vehicle.h

@@ -252,6 +252,11 @@ public:
      */
     virtual bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const { return false; }
 
+#if OSD_ENABLED
+   // Returns roll and  pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing TRIM_PITCH_CD
+    virtual void get_osd_roll_pitch_rad(float &roll, float &pitch) const;
+#endif
+
 protected:
 
     virtual void init_ardupilot() = 0;