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Merge pull request #977 from stevenrwood/fix/g53-ignore-wcs-rotation

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G53 moves incorrectly apply the active WCS rotation/offset (when ROTATION_ENABLE=1)
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Terje Io
2026-07-02 08:47:49 +02:00
committed by GitHub
parent 26d44fe733 add866cadc
commit f6bc9ef0b8
1 changed files with 6 additions and 1 deletions
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gcode.c
+6 -1
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@@ -3053,7 +3053,12 @@ status_code_t gc_execute_block (char *block)
#ifdef ROTATION_ENABLE
axes_signals_t r_axes, r_around;
uint_fast8_t idx_0, idx_1;
if(!gc_parser_flags.jog_motion && (r_axes.mask = (gc_block.modal.g5x_offset.data.rotation == 0.0f ? 0 : (axis_words.mask & (r_around.mask = rotate_axes[gc_block.modal.plane_select].mask))))) {
r_axes.mask = 0; // keep defined when the transform is bypassed (jog / G53)
// G53 (absolute machine override) must ignore the active WCS entirely - rotation AND offset. Without
// the AbsoluteOverride guard this block adds the g5x offset to the plane axes, so e.g. "G53 G0 X0 Y0"
// goes to the work origin instead of machine 0,0 (and false soft-limits when that lands out of travel).
// A near-zero garbage rotation (stale NVS after enabling ROTATION_ENABLE) is enough to arm it.
if(!gc_parser_flags.jog_motion && gc_block.non_modal_command != NonModal_AbsoluteOverride && (r_axes.mask = (gc_block.modal.g5x_offset.data.rotation == 0.0f ? 0 : (axis_words.mask & (r_around.mask = rotate_axes[gc_block.modal.plane_select].mask))))) {
if(r_axes.mask != r_around.mask) {
point_3d_t pos;