[Emc-commit] [LinuxCNC/linuxcnc] 39d6f9: motion/control: guard jerk decomposition for ident...

[andypugh <no...@gi...>]

  Branch: refs/heads/master
  Home:   https://github.com/LinuxCNC/linuxcnc
  Commit: 39d6f928015b65742bef2039c8c381eb7c9096f4
      https://github.com/LinuxCNC/linuxcnc/commit/39d6f928015b65742bef2039c8c381eb7c9096f4
  Author: Luca Toniolo <lu...@ai...>
  Date:   2026-03-31 (Tue, 31 Mar 2026)

  Changed paths:
    M src/emc/motion/control.c

  Log Message:
  -----------
  motion/control: guard jerk decomposition for identity kinematics only

The S-curve jerk decomposition assumed joint[0,1,2] = X,Y,Z, which is
only true for identity kinematics. For KINEMATICS_BOTH (e.g. XXYYYZ or
rotatekins) joint indices don't map to axis letters, making the
decomposition incorrect. Guard with KINEMATICS_IDENTITY check so
non-trivial kinematics fall back to cubic interpolator jerk values.


  Commit: b7423fb9b2e770a81cdc8dc22dea2c8d19f51fb5
      https://github.com/LinuxCNC/linuxcnc/commit/b7423fb9b2e770a81cdc8dc22dea2c8d19f51fb5
  Author: andypugh <an...@bo...>
  Date:   2026-04-08 (Wed, 08 Apr 2026)

  Changed paths:
    M src/emc/motion/control.c

  Log Message:
  -----------
  Merge pull request #3890 from grandixximo/fix/jerk-decomposition-kintype-guard

motion/control: guard jerk decomposition for identity kinematics only


Compare: https://github.com/LinuxCNC/linuxcnc/compare/d38c43136a55...b7423fb9b2e7

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