diff --git a/config.default.h b/config.default.h
index a2908be..5da1aa1 100644
--- a/config.default.h
+++ b/config.default.h
@@ -175,23 +175,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.gen3.h b/config.gen3.h
index e4dd4d4..c7a2320 100644
--- a/config.gen3.h
+++ b/config.gen3.h
@@ -177,23 +177,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.gen6.h b/config.gen6.h
index 6a7a753..94ec863 100644
--- a/config.gen6.h
+++ b/config.gen6.h
@@ -177,23 +177,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.gen7-v1.1-v1.3.h b/config.gen7-v1.1-v1.3.h
index 8a2e9d1..affbe7a 100644
--- a/config.gen7-v1.1-v1.3.h
+++ b/config.gen7-v1.1-v1.3.h
@@ -183,23 +183,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.gen7-v1.4.h b/config.gen7-v1.4.h
index 2e3b4bd..2e87e5f 100644
--- a/config.gen7-v1.4.h
+++ b/config.gen7-v1.4.h
@@ -183,23 +183,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.ramps-v1.2.h b/config.ramps-v1.2.h
index 0f9f47c..aa7f564 100644
--- a/config.ramps-v1.2.h
+++ b/config.ramps-v1.2.h
@@ -178,23 +178,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.ramps-v1.3.h b/config.ramps-v1.3.h
index dfcff5d..3cbb338 100644
--- a/config.ramps-v1.3.h
+++ b/config.ramps-v1.3.h
@@ -177,23 +177,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.sanguinololu-v1.1.h b/config.sanguinololu-v1.1.h
index 041835e..328aea8 100644
--- a/config.sanguinololu-v1.1.h
+++ b/config.sanguinololu-v1.1.h
@@ -177,23 +177,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.sanguinololu-v1.2.h b/config.sanguinololu-v1.2.h
index afbbe6a..0005e80 100644
--- a/config.sanguinololu-v1.2.h
+++ b/config.sanguinololu-v1.2.h
@@ -177,23 +177,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.sanguish.h b/config.sanguish.h
index ee4c97c..1aa9e99 100644
--- a/config.sanguish.h
+++ b/config.sanguish.h
@@ -183,23 +183,36 @@
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.teensy.h b/config.teensy.h
index d5c36f6..c9b1c85 100644
--- a/config.teensy.h
+++ b/config.teensy.h
@@ -190,23 +190,36 @@ MXL 2.032 mm/tooth, 29
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/config.teensypp.h b/config.teensypp.h
index a6af367..7d5f962 100644
--- a/config.teensypp.h
+++ b/config.teensypp.h
@@ -190,23 +190,36 @@ MXL 2.032 mm/tooth, 29
 */
 // #define LOOKAHEAD
 
-/** \def LOOKAHEAD_MAX_JERK_XY
+/** \def MAX_JERK_X
+    \def MAX_JERK_Y
+    \def MAX_JERK_Z
+    \def MAX_JERK_E
+
   When performing look-ahead, we need to decide what an acceptable jerk to the
-  mechanics is when we (instantly) change direction.
+  mechanics is. Look-ahead attempts to instantly change direction at movement
+  crossings, which means instant changes in the speed of the axes participating
+  in the movement. Define here how big the speed bumps on each of the axes is
+  allowed to be.
 
-  Units: micrometers
-  Sane values: 5 to 200
+  If you want a full stop before and after moving a specific axis, define
+  MAX_JERK of this axis to 0. This is often wanted for the Z axis. If you want
+  to ignore jerk on an axis, define it to twice the maximum feedrate of this
+  axis.
+
+  Having these values too low results in more than neccessary slowdown at
+  movement crossings, but is otherwise harmless. Too high values can result
+  in stepper motors suddenly stalling. If angles between movements in your
+  G-code are small and your printer runs through entire curves full speed,
+  there's no point in raising the values.
+
+  Units: mm/min
+  Sane values: 0 to 400
+  Valid range: 0 to 65535
 */
-#define LOOKAHEAD_MAX_JERK_XY 10
-
-/** \def LOOKAHEAD_MAX_JERK_E
-  When joining moves with different extrusion rates, define the maximum jerk
-  for the extruder.
-
-  Units: micrometers
-  Sane values: 5 to 200
-*/
-#define LOOKAHEAD_MAX_JERK_E 10
+#define MAX_JERK_X 20
+#define MAX_JERK_Y 20
+#define MAX_JERK_Z 0
+#define MAX_JERK_E 20
 
 
 
diff --git a/dda_lookahead.c b/dda_lookahead.c
index 8a41d74..840657b 100644
--- a/dda_lookahead.c
+++ b/dda_lookahead.c
@@ -163,11 +163,6 @@ void dda_emergency_shutdown(PGM_P msg) {
  *
  * \return dda->crossF
  */
-// TODO: This should go into config.h.
-#define MAX_JERK_X 20
-#define MAX_JERK_Y 20
-#define MAX_JERK_Z 0
-#define MAX_JERK_E 20
 void dda_find_crossing_speed(DDA *prev, DDA *current) {
   uint32_t F, prev_distance, curr_distance;
   uint32_t dv, speed_factor, max_speed_factor;
diff --git a/dda_lookahead.h b/dda_lookahead.h
index 633a263..dd25927 100644
--- a/dda_lookahead.h
+++ b/dda_lookahead.h
@@ -13,11 +13,10 @@
 #ifdef LOOKAHEAD
 
 // Sanity: make sure the defines are in place
-#ifndef LOOKAHEAD_MAX_JERK_XY
-#error Your config.h does not specify LOOKAHEAD_MAX_JERK_XY while LOOKAHEAD is enabled!
-#endif
-#ifndef LOOKAHEAD_MAX_JERK_E
-#error Your config.h does not specify LOOKAHEAD_MAX_JERK_E while LOOKAHEAD is enabled!
+#if ! defined MAX_JERK_X || ! defined MAX_JERK_Y || \
+    ! defined MAX_JERK_Z || ! defined MAX_JERK_E
+#error Your config.h does not specify one of MAX_JERK_X,
+#error MAX_JERK_Y, MAX_JERK_Z or MAX_JERK_E while LOOKAHEAD is enabled!
 #endif
 
 // Sanity: the acceleration of Teacup is not implemented properly; as such we can only