delete VT_FW_PITCH_TRIM parameter (#9014)

src/modules/vtol_att_control/tailsitter.cpp

@@ -316,7 +316,7 @@ void Tailsitter::fill_actuator_outputs()
 		_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
 			-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];	// roll elevon
 		_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
-			_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim;	// pitch elevon
+			_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];	// pitch elevon
 		_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
 			_actuators_fw_in->control[actuator_controls_s::INDEX_YAW];	// yaw
 		_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =

src/modules/vtol_att_control/tiltrotor.cpp

@@ -409,7 +409,7 @@ void Tiltrotor::fill_actuator_outputs()
 	_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
 		-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
 	_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
-		(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim);
+		(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH]);
 	_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
 		_actuators_fw_in->control[actuator_controls_s::INDEX_YAW];	// yaw
 	_actuators_out_1->control[4] = _tilt_control;

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -67,7 +67,6 @@ VtolAttitudeControl::VtolAttitudeControl()
 	_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
 	_params_handles.vtol_motor_count = param_find("VT_MOT_COUNT");
 	_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
-	_params_handles.fw_pitch_trim = param_find("VT_FW_PITCH_TRIM");
 	_params_handles.vtol_type = param_find("VT_TYPE");
 	_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
 	_params_handles.fw_min_alt = param_find("VT_FW_MIN_ALT");
@@ -450,10 +449,6 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.vtol_fw_permanent_stab, &l);
 	_vtol_vehicle_status.fw_permanent_stab = (l == 1);
 
-	/* vtol pitch trim for fw mode */
-	param_get(_params_handles.fw_pitch_trim, &v);
-	_params.fw_pitch_trim = v;
-
 	param_get(_params_handles.vtol_type, &l);
 	_params.vtol_type = l;
 

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -180,7 +180,6 @@ private:
 		param_t idle_pwm_mc;
 		param_t vtol_motor_count;
 		param_t vtol_fw_permanent_stab;
-		param_t fw_pitch_trim;
 		param_t vtol_type;
 		param_t elevons_mc_lock;
 		param_t fw_min_alt;

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -73,19 +73,6 @@ PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
  */
 PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
 
-/**
- * Fixed wing pitch trim
- *
- * This parameter allows to adjust the neutral elevon position in fixed wing mode.
- *
- * @min -1.0
- * @max 1.0
- * @increment 0.01
- * @decimal 2
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM, 0.0f);
-
 /**
  * VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
  *

src/modules/vtol_att_control/vtol_type.h

@@ -49,7 +49,6 @@
 struct Params {
 	int32_t idle_pwm_mc;			// pwm value for idle in mc mode
 	int32_t vtol_motor_count;		// number of motors
-	float fw_pitch_trim;		// trim for neutral elevon position in fw mode
 	int32_t vtol_type;
 	bool elevons_mc_lock;		// lock elevons in multicopter mode
 	float fw_min_alt;			// minimum relative altitude for FW mode (QuadChute)