The maximum lean angle is outside 10° to 80°
What ArduPilot says:
- …_ANGLE_MAX must be >= 10 and <= 80
In 4.7 the maximum lean angle belongs to the attitude controller as ATC_ANGLE_MAX and is given in degrees: 30 by default, and it must be between 10 and 80. Outside that range arming is refused, as “PreArm: Bad parameter: …”. Up to 4.6 the same limit was a parameter in centidegrees (3000 for 30°).
What to do, most likely first
The old value in centidegrees, such as 3000 or 4500, was typed into the new parameter.
Check
ATC_ANGLE_MAXreads in the hundreds or thousands.FixEnter degrees:
ATC_ANGLE_MAX30 for 30°.The value was set below 10° to tame a first flight.
FixSet
ATC_ANGLE_MAXto 10 or more; 30 is the default.
Parameters to look at
| Parameter | What it is |
|---|---|
ATC_ANGLE_MAX | Angle Max |
Where to do it:Parameter Compare & MigrateStarting Parameters
The code that sends it
…_ANGLE_MAX must be >= 10 and <= 80
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp AC_AttitudeControl::pre_arm_checks() · Open in ArduPilot Copter-4.7.1