esp32s3/balance/main/config.h

@@ -50,3 +50,5 @@
 #define RPM_PER_SPEED_UNIT      5       /* speed_units=1000 → 5000 ERPM */
 #define RPM_PER_STEER_UNIT      3       /* steer differential scale */
 
+/* ── Tilt cutoff ── */
+#define TILT_CUTOFF_DEG         25.0f

esp32s3/balance/main/orin_serial.h

@@ -53,9 +53,10 @@
 
 /* ── Balance state (mirrored from TELEM_STATUS.balance_state) ── */
 typedef enum {
-    BAL_DISARMED = 0,
-    BAL_ARMED    = 1,
-    BAL_ESTOP    = 3,
+    BAL_DISARMED   = 0,
+    BAL_ARMED      = 1,
+    BAL_TILT_FAULT = 2,
+    BAL_ESTOP      = 3,
 } bal_state_t;
 
 /* ── Shared state written by RX task, consumed by main/vesc tasks ── */