Copter does not arm when it's not upright & level

[laserman]

My MultiWiiCopter does not arm when it's not upright & level.
Where can I change that ?
Can't find it in the code

Starting the motors is one possible way to rescue the copter from a tree.
Sometimes the only or most important way.
If you have no buzzer than it also helps to find the copter in a forest or
field.

[mr.rc-cam]

The ACC's level test is found in the main sketch as follows:

Code: Select all

  if ( currentTime > calibratedAccTime ) {
    if (! f.SMALL_ANGLES_25) {
      // the multi uses ACC and is not calibrated or is too much inclinated
      f.ACC_CALIBRATED = 0;
      LEDPIN_TOGGLE;
      calibratedAccTime = currentTime + 500000;
    } else {
      f.ACC_CALIBRATED = 1;
    }
  }

I could be wrong, but if you use Box Arm (instead of stick arming) then I do not think you will need to modify any code.

-Thomas