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Hey Ollie!
Had some trouble to understand your PR (see ClemensElflein#97 (comment)), but because interested in the PR, I tried/tested it today.
Beside some minor simplification, I had the impression that the shutdown logic need to be changed (beside the fact that I changed from pitch_angle to tilt_angle).
I tested it with a WT901 and now it looks reasonable to me ;-) ... but there's a good chance that I miss-interpreted the reasoning of the PR at all ;-)
Can also test it with a MPU9250 the next days... but wanna hear you thoughts before ;-)
In addition I've the impression that we should trigger an emergency if the mower get tilted by IMU (probably only if ROS_running and !idle)