Copter: use circular limit on tilt angle for arm check

10 years ago · e5b6cf9966
1 changed files with 1 additions and 1 deletions
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@ -625,7 +625,7 @@ static bool arm_checks(bool display_failure, bool arming_from_gcs)
				@@ -625,7 +625,7 @@ static bool arm_checks(bool display_failure, bool arming_from_gcs)

    // check lean angle
    if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS)) {
-        if (labs(ahrs.roll_sensor) > aparm.angle_max || labs(ahrs.pitch_sensor) > aparm.angle_max) {
+        if (degrees(acosf(ahrs.cos_roll()*ahrs.cos_pitch()))*100.0f > aparm.angle_max) {
            if (display_failure) {
                gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Leaning"));
            }