From d827d7f1d1e1a182cbcc874f592746e6f43c1771 Mon Sep 17 00:00:00 2001
From: Samuel Sadok <samuel.sadok@bluewin.ch>
Date: Fri, 27 Apr 2018 12:08:23 -0700
Subject: [PATCH] set encoder to ready state on startup for hall effect mode

---
 Firmware/MotorControl/encoder.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 222fcd6a..07a6b3a1 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -14,6 +14,11 @@ Encoder::Encoder(const EncoderHardwareConfig_t& hw_config,
 
     // Critically damped
     pll_ki_ = 0.25f * (pll_kp_ * pll_kp_);
+
+    if (config.pre_calibrated && (config.mode == Encoder::MODE_HALL)) {
+        offset_ = config.offset;
+        is_ready_ = true;
+    }
 }
 
 static void enc_index_cb_wrapper(void* ctx) {