Fixes

Added an abort + error, and confirmed to naming convention.

Firmware/MotorControl/axis.cpp

@@ -395,8 +395,13 @@ bool Axis::run_homing() {
 
     error_ &= ~ERROR_MIN_ENDSTOP_PRESSED; // clear this error since we deliberately drove into the endstop
 
+    
+    if (encoder_.pos_estimate_.any() == std::nullopt || !encoder_.pos_estimate_.any().has_value()){
+        return error_ |= ERROR_UNKNOWN_POSITION, false;
+    }
+
     // Calculate the desired position after offset.
-    float inputBuffer = encoder_.pos_estimate_.any().value() + min_endstop_.config_.offset;
+    float input_buffer = encoder_.pos_estimate_.any().value() + min_endstop_.config_.offset;
     
     controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
     controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;
@@ -404,7 +409,7 @@ bool Axis::run_homing() {
     // Initialize closed loop control, and then set the desired location.
     start_closed_loop_control();
     
-    controller_.input_pos_ = inputBuffer;
+    controller_.input_pos_ = input_buffer;
     controller_.input_pos_updated();
     
     while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !controller_.trajectory_done_) {

Firmware/odrive-interface.yaml

@@ -414,6 +414,8 @@ interfaces:
           OVER_TEMP:
             # unused
             doc: Check `motor.error` for more details.
+          UNKNOWN_POSITION:
+            doc: There isn't a valid position estimate available.
       step_dir_active: readonly bool
       last_drv_fault: readonly uint32
       current_state: readonly AxisState

tools/odrive/enums.py

@@ -101,6 +101,7 @@ AXIS_ERROR_MAX_ENDSTOP_PRESSED           = 0x00002000
 AXIS_ERROR_ESTOP_REQUESTED               = 0x00004000
 AXIS_ERROR_HOMING_WITHOUT_ENDSTOP        = 0x00020000
 AXIS_ERROR_OVER_TEMP                     = 0x00040000
+AXIS_ERROR_UNKNOWN_POSITION              = 0x00080000
 
 # ODrive.Motor.Error
 MOTOR_ERROR_NONE                         = 0x00000000