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

"Ideally you would TRIM your plane in manual, then align your IMU2BODY in
AUTO1 with the trimmed plane and then auto2 should be perfect right away."

Isn't that what you do ? Because it is exactly the way we trim new aircrafts, and most of the time it flies in auto2 at the first or second flight.

For the first point, I agree it might be easier to just add an offset to the command, but this way we might hide an (estimation) error with an other (control) error. Isn't it better to fine tune aerodynamicaly with the servo neutrals, then set estimation neutrals in level flight, and in the end the control should not need (manual) trim ?
For the pitch trim on fixedwing, the vertical control loop is not nice anyway, but the pitch_neutral is clearly a bad workaround.