From 64bbfea5e3d5df36df034614fc861a0221b0c2ad Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Mon, 5 Sep 2022 21:55:06 -0700
Subject: [PATCH] Ensure pos_estimate is updated at least once after homing

---
 Firmware/MotorControl/axis.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 82556c1c..2e09a231 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -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;