Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-02-05 22:52:02 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Ensure pos_estimate is updated at least once after homing

Browse Source
This commit is contained in:
Paul Guenette
2022-09-05 21:55:06 -07:00
parent 08d5a204af
commit 64bbfea5e3
1 changed files with 3 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
Firmware/MotorControl/axis.cpp
View File

@@ -431,6 +431,9 @@ bool Axis::run_homing() {
controller_.vel_setpoint_ = 0.0f;
controller_.input_pos_updated();
// Force encoder estimate to update
osDelay(1);
controller_.config_.control_mode = stored_control_mode;
controller_.config_.input_mode = stored_input_mode;
homing_.is_homed = true;