Checkpoint

g2core/plan_exec.cpp

@@ -540,8 +540,8 @@ stat_t mp_exec_aline(mpBuf_t *bf)
                 st_request_forward_plan();
             }
         }
-        copy_vector(mr->end_position, mr->position);    // record end position
-        copy_vector(mp->position, mr->position);        // record end position
+//+++++        copy_vector(mr->end_position, mr->position);    // record end position
+        copy_vector(mp->position, mr->position);        // record actual end position of the move
     }
     return (status);
 }
@@ -1027,14 +1027,13 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
                 cm->hold_state = FEEDHOLD_OFF;
             } 
 
-            // In a regular p1 hold
+            // In a regular p1 hold. Motion has stopped, so we can rely on positions and other values to be stable
             else {
   
                 // Reset the state of the p1 planner regardless of how hold will ultimately be exited.
                 bf->length = get_axis_vector_length(mr->position, mr->target); // get remaining length in move
-                copy_vector(mp->position, mr->position);    // update planner position from runtime
-                copy_vector(mr->end_position, mr->position);// record end position
-
+                copy_vector(mp->position, mr->position);    // update planner position from runtime position
+  
                 bf->block_state = BLOCK_INITIAL_ACTION;     // tell _exec to re-use the bf buffer
                 mr->block_state = BLOCK_INACTIVE;           // invalidate mr buffer to reset the new move
                 bf->plannable = true;                       // needed so black can be adjusted
@@ -1045,7 +1044,7 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
                 // Set state to enable transition to p2 and perform entry actions in the p2 planner
                 cm->hold_state = FEEDHOLD_ACTIONS_START;    // executes entirely out of p2 planner
             }
-
+            
             sr_request_status_report(SR_REQUEST_IMMEDIATE);
             cs.controller_state = CONTROLLER_READY;         // remove controller readline() PAUSE
         }