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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-12-14 10:26:23 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-12-20 12:13:19 -0500 |
| commit | 54149e38f9cfa113a413e57dc663c0ddfd700a0f (patch) | |
| tree | d80f97c8ef61c3df23f495ebc6e547a8d1d22316 /klippy | |
| parent | b921b8a1c1b3dcf78deba079c17d9af559f3f2a0 (diff) | |
| download | kutter-54149e38f9cfa113a413e57dc663c0ddfd700a0f.tar.gz kutter-54149e38f9cfa113a413e57dc663c0ddfd700a0f.tar.xz kutter-54149e38f9cfa113a413e57dc663c0ddfd700a0f.zip | |
trapq: Limit the duration of "null" sentinal moves on the trapq
If a null move is added as the first move on the trapezoid motion
queue then it could have a very large move->move_t value. This could
cause numerical stability issues with some advanced kinematic
formulas. Place a limit on the move_t value to avoid this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/chelper/trapq.c | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/klippy/chelper/trapq.c b/klippy/chelper/trapq.c index 603ce9e2..7dc5a62a 100644 --- a/klippy/chelper/trapq.c +++ b/klippy/chelper/trapq.c @@ -133,6 +133,8 @@ trapq_check_sentinels(struct trapq *tq) tail_sentinel->start_pos = move_get_coord(m, m->move_t); } +#define MAX_NULL_MOVE 1.0 + // Add a move to the trapezoid velocity queue void trapq_add_move(struct trapq *tq, struct move *m) @@ -143,7 +145,11 @@ trapq_add_move(struct trapq *tq, struct move *m) // Add a null move to fill time gap struct move *null_move = move_alloc(); null_move->start_pos = m->start_pos; - null_move->print_time = prev->print_time + prev->move_t; + if (!prev->print_time && m->print_time > MAX_NULL_MOVE) + // Limit the first null move to improve numerical stability + null_move->print_time = m->print_time - MAX_NULL_MOVE; + else + null_move->print_time = prev->print_time + prev->move_t; null_move->move_t = m->print_time - null_move->print_time; list_add_before(&null_move->node, &tail_sentinel->node); } |