sl-perception created pull request seb/saltylab-firmware#679

sl-perception
Tue, 17 Mar 2026 21:40:05 -0400

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

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°)

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