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Initialize current_position correctly during startup 

Just after setting up the w2m matrix, call "clamp_to_software_endstops"
on the current_position (initially [0,0,0]) to move it to the effective
minimal position, which is usually [0,0,non-zero] due to MIN_Z and the
negative probe offset.

This is required to calculate correctly the first relative move:
planning X+10 would unexpectedly calculate a Z shift otherwise.
This commit is contained in:
Yuri D'Elia 2020-02-06 22:41:47 +01:00
parent 4774b44e21
commit f1618bfbd6
1 changed files with 8 additions and 1 deletions
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9
Firmware/Marlin_main.cpp
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@ -1310,10 +1310,17 @@ void setup()
setup_photpin(); setup_photpin();
servo_init(); servo_init();
// Reset the machine correction matrix. // Reset the machine correction matrix.
// It does not make sense to load the correction matrix until the machine is homed. // It does not make sense to load the correction matrix until the machine is homed.
world2machine_reset(); world2machine_reset();
// Initialize current_position accounting for software endstops to
// avoid unexpected initial shifts on the first move
clamp_to_software_endstops(current_position);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS],
current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef FILAMENT_SENSOR #ifdef FILAMENT_SENSOR
fsensor_init(); fsensor_init();
#endif //FILAMENT_SENSOR #endif //FILAMENT_SENSOR