diff options
Diffstat (limited to 'klippy/chelper/trapq.c')
| -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); } |