diff --git a/src/main.c b/src/main.c
index 6451f75..a8a23d1 100644
--- a/src/main.c
+++ b/src/main.c
@@ -372,7 +372,7 @@ int main(void) {
             jlink_state.arm_req = 0u;
             if (!safety_remote_estop_active() &&
                     mpu6000_is_calibrated() &&
-                    bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 10.0f) {
+                    bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 20.0f) {
                 safety_arm_start(now);
             }
         }
@@ -509,7 +509,7 @@ int main(void) {
                 /* Rising edge: start arm hold (motors enable after ARMING_HOLD_MS) */
                 if (!safety_remote_estop_active() &&
                         mpu6000_is_calibrated() &&
-                        bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 10.0f) {
+                        bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 20.0f) {
                     safety_arm_start(now);
                 }
             }
@@ -529,7 +529,7 @@ int main(void) {
             cdc_arm_request = 0;
             if (!safety_remote_estop_active() &&
                     mpu6000_is_calibrated() &&
-                    bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 10.0f) {
+                    bal.state == BALANCE_DISARMED && fabsf(bal.pitch_deg) < 20.0f) {
                 safety_arm_start(now);
             }
         }