When the estimated attitude roll and pitch states become too large, it is likely that the quadrotor has lost control due to some fault (could be both due to software and hardware, e.g. motor failure). Also, the proposed gyroscope tilt-compensation #155 diverges at 90 degrees pitch, which is an undesired state anyway.
In this case, the quadrotor should shut down the motors. Until more advanced fault detection and fault handling is in place, this seems the most safe course of action.
Whilst visiting this issue, it might be suitable to review the ErrorHandler function usage and issue #6 about motor arm/lock variable usage. Also see #152 on shutting down motors more quickly.
When the estimated attitude roll and pitch states become too large, it is likely that the quadrotor has lost control due to some fault (could be both due to software and hardware, e.g. motor failure). Also, the proposed gyroscope tilt-compensation #155 diverges at 90 degrees pitch, which is an undesired state anyway.
In this case, the quadrotor should shut down the motors. Until more advanced fault detection and fault handling is in place, this seems the most safe course of action.
Whilst visiting this issue, it might be suitable to review the ErrorHandler function usage and issue #6 about motor arm/lock variable usage. Also see #152 on shutting down motors more quickly.