From 949ad66124e637b7d4d685290ecc0685e761447c Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Sat, 25 May 2019 18:07:02 +0200
Subject: [PATCH] Fix anticogging_calibration where cpr != 3600

---
 Firmware/MotorControl/controller.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index f844ed9c..47610e4a 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -81,7 +81,8 @@ bool Controller::home_axis() {
  */
 bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate) {
     if (config_.anticogging.calib_anticogging) {
-        float pos_err = config_.anticogging.index - pos_estimate;
+        config_.anticogging.anticogging_valid = false;
+        float pos_err = input_pos_ - pos_estimate;
         if (fabsf(pos_err) <= config_.anticogging.calib_pos_threshold &&
             fabsf(vel_estimate) < config_.anticogging.calib_vel_threshold) {
             config_.anticogging.cogging_map[std::clamp<uint32_t>(config_.anticogging.index++, 0, 3600)] = vel_integrator_current_;