From d4b88a4b2bc2f57c0c14e60f3d6b4336c111877b Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Mar 2018 00:30:31 -0500
Subject: [PATCH] delete VT_FW_PITCH_TRIM parameter

---
 src/modules/vtol_att_control/tailsitter.cpp         |  2 +-
 src/modules/vtol_att_control/tiltrotor.cpp          |  2 +-
 .../vtol_att_control/vtol_att_control_main.cpp      |  5 -----
 .../vtol_att_control/vtol_att_control_main.h        |  1 -
 .../vtol_att_control/vtol_att_control_params.c      | 13 -------------
 src/modules/vtol_att_control/vtol_type.h            |  1 -
 6 files changed, 2 insertions(+), 22 deletions(-)

diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index 3aa33c39fb6a..7a73bc23d10d 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/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] =
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index 84621ca58f71..73322d7a2a4f 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/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;
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index d19370eb3ce0..b4c9c9cecee4 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/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;
 
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index e98a15a52028..29ea822e0a68 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -180,7 +180,6 @@ class VtolAttitudeControl
 		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;
diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c
index 209870a77574..a9cefd6cd14c 100644
--- a/src/modules/vtol_att_control/vtol_att_control_params.c
+++ b/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)
  *
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 04b2f3aa7764..5d358e277b9e 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/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)