From c59b2c156a8abfc52172f625337f98af8db36083 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 12 Nov 2018 16:00:00 +1100
Subject: [PATCH] Plane: fixes for Q_TRIM_PITCH

improved documentation and variable names
---
 ArduPlane/quadplane.cpp | 13 +++++++------
 ArduPlane/quadplane.h   |  2 +-
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index dfd9c1825a..065f50f906 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -359,14 +359,15 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
     // @User: Standard
     AP_GROUPINFO("TAILSIT_THSCMX", 3, QuadPlane, tailsitter.throttle_scale_max, 5),
 
-    // @Param: TRIM_PIT
+    // @Param: TRIM_PITCH
     // @DisplayName: Quadplane AHRS trim pitch
-    // @Description: Compensates for the pitch angle trim difference between forward and vertical flight pitch, NOTE! this is relative to forward flight trim not mounting locaiton
+    // @Description: This sets the compensation for the pitch angle trim difference between forward and vertical flight pitch, NOTE! this is relative to forward flight trim not mounting locaiton. For tailsitters this is relative to a baseline of 90 degrees.
     // @Units: deg
-    // @Range: -180 +180
-    // @User: Standard
+    // @Range: -10 +10
+    // @Increment: 0.1
+    // @User: Advanced
     // @RebootRequired: True
-    AP_GROUPINFO("TRIM_PIT", 4, QuadPlane, quadplane_ahrs_trim_pitch, 0),
+    AP_GROUPINFO("TRIM_PITCH", 4, QuadPlane, ahrs_trim_pitch, 0),
 
     AP_GROUPEND
 };
@@ -557,7 +558,7 @@ bool QuadPlane::setup(void)
     AP_Param::load_object_from_eeprom(motors, motors_var_info);
 
     // create the attitude view used by the VTOL code
-    ahrs_view = ahrs.create_view_trim(rotation, (float)quadplane_ahrs_trim_pitch);
+    ahrs_view = ahrs.create_view(rotation, ahrs_trim_pitch);
     if (ahrs_view == nullptr) {
         goto failed;
     }
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 043e92d778..45bd17ec9b 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -232,7 +232,7 @@ private:
     AP_Float transition_decel;
 
     // Quadplane trim, degrees
-    AP_Float quadplane_ahrs_trim_pitch;
+    AP_Float ahrs_trim_pitch;
 
     AP_Int16 rc_speed;