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Bump arm pitch threshold from 10° to 20° (Mamba mount angle offset) #678

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opened 2026-03-17 21:37:27 -04:00 by seb · 0 comments
seb commented 2026-03-17 21:37:27 -04:00
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Problem

Mamba F7 MK2 is mounted at ~12° angle on the SaltyBot frame. The arming check fabsf(bal.pitch_deg) < 10.0f in src/main.c (3 occurrences at lines ~375, 512, 532) prevents arming because raw pitch never drops below 10° when the robot is vertical.

Fix

Change all three instances from < 10.0f to < 20.0f to accommodate mount angle offset.

Branch

Apply on top of sl-firmware/issue-597-can-driver branch.

Note

Long-term fix should be a configurable mount angle offset stored in flash (like pid_flash_save), but 20° threshold is safe for bench testing.

## Problem Mamba F7 MK2 is mounted at ~12° angle on the SaltyBot frame. The arming check `fabsf(bal.pitch_deg) < 10.0f` in `src/main.c` (3 occurrences at lines ~375, 512, 532) prevents arming because raw pitch never drops below 10° when the robot is vertical. ## Fix Change all three instances from `< 10.0f` to `< 20.0f` to accommodate mount angle offset. ## Branch Apply on top of `sl-firmware/issue-597-can-driver` branch. ## Note Long-term fix should be a configurable mount angle offset stored in flash (like `pid_flash_save`), but 20° threshold is safe for bench testing.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#678
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