Pitch and roll angle should be max 25 degrees. Yaw angle might be max 180

[rlindsberg]

In the file below, angles are limited from -25 to 25.

Quadcopter-Flight-Controller/Src/automaticControl.c

Lines 257 to 270 in 315f4c9

	/** ****************************************************************************
	* @brief PID control for Roll
	*
	* @param pointer to struct containing filter variables.
	*
	* @return none
	******************************************************************************/
	void PID_Roll(FILTER_complement_struct *filter_pointer)
	{
	/* Roll control */
	if(desired_roll_angle > 25)
	desired_roll_angle = 25;
	else if(desired_roll_angle < -25)
	desired_roll_angle = -25;

One may want to change this lines also in order to fully take the benefit of remote control's full range.

Quadcopter-Flight-Controller/Src/pwmIn.c

Lines 62 to 72 in 315f4c9

	/*
	Values are shifted to fit. Input values are between 4000 - 8000.
	Right shift by 2 to get values between 1000-2000 (what the
	pwm-out wants), and right shift by 5 and subtract 187
	to get values between -63 and +62. This is interpreted
	as degrees by the control system.
	*/
	float pitch_value = (float) ((pitch>>5)-187.0);
	float roll_value = (float) ((roll>>5)-187.0);
	float yaw_value = (float) ((yaw>>5)-187.0);