From 8d1729b3bad8e012166aed50084f0b90b916faf0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 14 Feb 2012 08:52:35 +1100
Subject: [PATCH] Mavlink: report the corrected pitch via MAVLink

this subtracts the TRIM_PITCH_CD from the pitch reported via
MAVLink. That gives a better indication of the true pitch in the tlog
---
 ArduPlane/GCS_Mavlink.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 7ac0e3ddf5..b4b8af8cf7 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -113,7 +113,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan)
         chan,
         micros(),
         dcm.roll,
-        dcm.pitch,
+        dcm.pitch - radians(g.pitch_trim*0.01),
         dcm.yaw,
         omega.x,
         omega.y,