Merge branch 'homing_hotfix' into devel

CHANGELOG.md

@@ -28,6 +28,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * **`input_pos`, `input_vel`, `pos_estimate_linear`, `pos_estimate_circular`, are now in units of [turns] or [turns/s] instead of [counts] or [counts/s]**
 * `axis.motor.thermal_current_lim` has been removed. Instead a new property is available `axis.motor.effective_current_lim` which contains the effective current limit including any thermal limits.
 * `axis.motor.get_inverter_temp()`, `axis.motor.inverter_temp_limit_lower` and `axis.motor.inverter_temp_limit_upper` have been moved to seperate fet thermistor object under `axis.fet_thermistor`. `get_inverter_temp()` function has been renamed to `temp` and is now a read-only property.
+* `axis.config.counts_per_step` is now `axis.config.turns_per_step`
 
 
 # Releases

Firmware/MotorControl/axis.cpp

@@ -426,7 +426,7 @@ bool Axis::run_homing() {
     controller_.vel_setpoint_ = 0.0f;  // Change directions without decelerating
 
     // Set our current position in encoder counts to make control more logical
-    encoder_.set_linear_count((int32_t)controller_.pos_setpoint_);
+    encoder_.set_linear_count((int32_t)(controller_.pos_setpoint_ * encoder_.config_.cpr));
 
     controller_.config_.control_mode = Controller::CONTROL_MODE_POSITION_CONTROL;
     controller_.config_.input_mode = Controller::INPUT_MODE_TRAP_TRAJ;