motion: axis_sync_teleop_tp_to_carte_pos resets velocity/acceleration#3949
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is-primary-dev wants to merge 1 commit intoLinuxCNC:masterfrom
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motion: axis_sync_teleop_tp_to_carte_pos resets velocity/acceleration#3949is-primary-dev wants to merge 1 commit intoLinuxCNC:masterfrom
is-primary-dev wants to merge 1 commit intoLinuxCNC:masterfrom
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Without this, residual teleop_tp.curr_vel from an aborted jog can survive the FREE -> TELEOP transition. axis_sync_teleop_tp_to_carte_pos is called in two places: enabling motion from DISABLED, and entering teleop mode (e.g. after homing finishes). Both semantically represent the joint being at rest at the current cartesian position — leaving the trajectory planner's velocity and acceleration at stale non-zero values causes the first simple_tp_update_normal call after the sync to integrate one cycle of motion, drifting curr_pos away from the synced position. Two-line fix matching the function's documented intent.
BsAtHome
added
bug
v2.9 candidate
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axis_sync_teleop_tp_to_carte_posinsrc/emc/motion/axis.cupdatesteleop_tp.curr_posandpos_cmdto the current cartesian command but leavescurr_velandcurr_accuntouched. Both callers semantically represent "joint at rest at the current cartesian position" — enabling motion fromDISABLED, and enteringTELEOPafter homing. Leaving residual velocity in the trajectory planner letssimple_tp_update_normalintegrate one cycle of motion on the first pass after the sync, driftingcurr_posaway from the synced value. The patch zeroscurr_velandcurr_accalongside the existing position sync.Reproduction on an XYZZ setup where Z homes at
MAX_LIMIT: home all, jog Z in the minus direction, release the jog key (axis_jog_abort(immediate=0)runs with residual velocity), re-home. Pre-fix: Z lands 1–3 mm belowHOMEdepending on jog-settle timing. Post-fix: Z lands atHOMEwithin machine resolution.No upstream test harness exercises the
FREE -> TELEOPtransition after re-homing, so verification is by manual reproduction.