Hello I have been messing with launch ramps and was wondering how to adjust the max angle that a plane will arm at, from what I can tell from here (Automatic Takeoff — Plane documentation) the max pitch is 40 degrees before it stops letting you arm, is there a way to change this? I took a look in takeoff.cpp in the git hub and found this: (https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/takeoff.cpp)
if (do_takeoff_attitude_check) {
// Check aircraft attitude for bad launch
if (ahrs.pitch_sensor <= -3000 || ahrs.pitch_sensor >= 4500 ||
(!fly_inverted() && labs(ahrs.roll_sensor) > 3000)) {
gcs().send_text(MAV_SEVERITY_WARNING, “Bad launch AUTO”);
takeoff_state.accel_event_counter = 0;
goto no_launch;
}
}
Which seems to be the code doing that check, but I’m not sure how to go from the .ccp file to a firmware update for my aircraft. I’m aware you can disable it altogether but I want to be able to change those bounds. Can anyone help?
Simply replace the values (kep in mind they are in centidegrees) and compile the code for your board.
You could add parameters tough it would be slightly more involved, then do a pull request for it to be included in a future version of AP.