From 9735a0eff1a16dd408faa82ba3e3706c91ac2c00 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 10 Nov 2012 13:11:11 -0800
Subject: [PATCH] ACM: Allow for user defined roll and pitch input max

---
 ArduCopter/config.h  | 7 +++++++
 ArduCopter/radio.pde | 4 ++--
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 19d4b2eda6..f8175e4afd 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -715,6 +715,13 @@
 //////////////////////////////////////////////////////////////////////////////
 // Stabilize Rate Control
 //
+
+#ifndef MAX_INPUT_ROLL_ANGLE
+ # define MAX_INPUT_ROLL_ANGLE      4500
+#endif
+#ifndef MAX_INPUT_PITCH_ANGLE
+ # define MAX_INPUT_PITCH_ANGLE     4500
+#endif
 #ifndef RATE_ROLL_P
  # define RATE_ROLL_P        		0.175
 #endif
diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index 8c5e761ef5..a0205b7f85 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -21,8 +21,8 @@ static void default_dead_zones()
 static void init_rc_in()
 {
     // set rc channel ranges
-    g.rc_1.set_angle(4500);
-    g.rc_2.set_angle(4500);
+    g.rc_1.set_angle(MAX_INPUT_ROLL_ANGLE);
+    g.rc_2.set_angle(MAX_INPUT_PITCH_ANGLE);
 #if FRAME_CONFIG == HELI_FRAME
     // we do not want to limit the movment of the heli's swash plate
     g.rc_3.set_range(0, 1000);