From 9b94f265839c5e06fad4938ce7d8767577312283 Mon Sep 17 00:00:00 2001
From: Arthur Benemann <arthur.benemann@gmail.com>
Date: Thu, 26 Mar 2015 18:05:53 -0700
Subject: [PATCH] AP_Gimbal: Relax minimal angle constrains on the gimbal

---
 libraries/AP_Gimbal/AP_Gimbal.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_Gimbal/AP_Gimbal.cpp b/libraries/AP_Gimbal/AP_Gimbal.cpp
index ada48c9d04..aef165215a 100644
--- a/libraries/AP_Gimbal/AP_Gimbal.cpp
+++ b/libraries/AP_Gimbal/AP_Gimbal.cpp
@@ -168,11 +168,10 @@ void AP_Gimbal::update_target(Vector3f newTarget)
     // Low-pass filter
     _angle_ef_target_rad.y = _angle_ef_target_rad.y + 0.02f*(newTarget.y - _angle_ef_target_rad.y);
     // Update tilt
-    _angle_ef_target_rad.y = constrain_float(_angle_ef_target_rad.y,radians(-45),radians(0));
+    _angle_ef_target_rad.y = constrain_float(_angle_ef_target_rad.y,radians(-90),radians(0));
 
 }
 
-
 uint8_t AP_Gimbal::isCopterFliped(){
     return fabs(_ahrs.roll)>1.0f || fabs(_ahrs.pitch)>1.0f;
 }
\ No newline at end of file