paparazzi/paparazzi — comment on commit 8b2892c0052ac9b4da597e400e490fa117c44577
File:  line 0
By gautierhattenberger:

ir and ins trims are representing the estimation error due to misalignment, while a command trim adds an offset after all the control loops. If we do that, will we be able to compare properly the attitude setpoints with the estimated state ? It's already a problem with the loiter and dash trims. If we want to merge these ir_ and ins_ neutrals, it should be related to the ahrs interface. It is already with the imu to body matrix, but it is only at compile-time. An ahrs_neutrals, available at runtime and for small angles, should do the rest.