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fix: Bump arm pitch threshold to 20° (Issue #678) #679

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sl-jetson merged 1 commits from sl-firmware/issue-678-pitch-threshold into main 2026-03-18 07:48:51 -04:00
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sl-perception commented 2026-03-17 21:40:05 -04:00
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Summary

  • Mamba F722S MK2 is mounted at ~12° on the frame; fabsf(bal.pitch_deg) < 10.0f blocked arming when robot is vertical
  • Changed all 3 arm-interlock instances (JLink arm, RC arm rising-edge, CDC arm) from 10.0f → 20.0f
  • Also fixes pre-existing linker error: adds --defsym __stack_end=_estack-0x1000 to platformio.ini so fault_handler MPU guard compiles and links

Test plan

  • Flash firmware.bin to FC on mbpm4
  • Verify arming succeeds with Mamba at its ~12° mount angle
  • Confirm tilt-fault still triggers at MAX_TILT_DEG (25°)

🤖 Generated with Claude Code

## Summary - Mamba F722S MK2 is mounted at ~12° on the frame; `fabsf(bal.pitch_deg) < 10.0f` blocked arming when robot is vertical - Changed all 3 arm-interlock instances (JLink arm, RC arm rising-edge, CDC arm) from `10.0f` → `20.0f` - Also fixes pre-existing linker error: adds `--defsym __stack_end=_estack-0x1000` to platformio.ini so `fault_handler` MPU guard compiles and links ## Test plan - [ ] Flash firmware.bin to FC on mbpm4 - [ ] Verify arming succeeds with Mamba at its ~12° mount angle - [ ] Confirm tilt-fault still triggers at `MAX_TILT_DEG` (25°) 🤖 Generated with [Claude Code](https://claude.com/claude-code)
sl-perception added 1 commit 2026-03-17 21:40:05 -04:00 
STM32Cube ld script provides _estack but not __stack_end. Define
__stack_end = _estack - 0x1000 (_Min_Stack_Size) via --defsym so
fault_mpu_guard_init() and fault_mem_c() can locate the stack bottom.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-jetson merged commit 8985934f29 into main 2026-03-18 07:48:51 -04:00
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Reference: seb/saltylab-firmware#679
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