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motion: defer mode transitions instead of dropping them when not in position #4284

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motion: defer mode transitions instead of dropping them when not in position #4284

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12 changes: 6 additions & 6 deletions src/emc/motion/control.c
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Original file line number Diff line number Diff line change
Expand Up @@ -956,8 +956,8 @@ static void set_operating_mode(void)
// entering teleop (INPOS), remove ext offsets
axis_sync_teleop_tp_to_carte_pos(-1, pcmd_p);
} else {
/* not in position-- don't honor mode change */
emcmotInternal->teleoperating = 0;
/* not in position-- defer the mode change; the request stays
pending and is honored when motion comes to rest */
}
} else {
if (GET_MOTION_INPOS_FLAG()) {
Expand Down Expand Up @@ -996,8 +996,8 @@ static void set_operating_mode(void)
SET_MOTION_TELEOP_FLAG(0);
SET_MOTION_ERROR_FLAG(0);
} else {
/* not in position-- don't honor mode change */
emcmotInternal->coordinating = 0;
/* not in position-- defer the mode change; the request stays
pending and is honored when motion comes to rest */
}
}

Expand All @@ -1016,8 +1016,8 @@ static void set_operating_mode(void)
SET_MOTION_TELEOP_FLAG(0);
SET_MOTION_ERROR_FLAG(0);
} else {
/* not in position-- don't honor mode change */
emcmotInternal->coordinating = 1;
/* not in position-- defer the mode change; the request stays
pending and is honored when motion comes to rest */
}
}
}
Expand Down
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