From 703b2258ab92b6e1c2b6454e78918515ac94e971 Mon Sep 17 00:00:00 2001
From: Luca Toniolo <luca@aitalmac.com>
Date: Mon, 2 Feb 2026 13:21:38 +0800
Subject: [PATCH] tp: fix acceleration spikes during parabolic blending

Fixes #3773
---
 src/emc/tp/tp.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/emc/tp/tp.c b/src/emc/tp/tp.c
index 613ea896b39..7cd1d85ccf3 100644
--- a/src/emc/tp/tp.c
+++ b/src/emc/tp/tp.c
@@ -3051,7 +3051,8 @@ STATIC void tpUpdateBlend(TP_STRUCT * const tp, TC_STRUCT * const tc,
         nexttc->target_vel = blend_progress * nexttc->blend_vel * blend_scale;
         // Mark the segment as blending so we handle the new target velocity properly
         nexttc->is_blending = true;
-        nexttc->cycle_time = tc->cycle_time;
+        // Don't copy cycle_time - if tc has a partial split time, nexttc gets acc spikes
+        // nexttc->cycle_time = tc->cycle_time;
     } else {
         // Drive the target velocity to zero since we're stopping
         nexttc->target_vel = 0.0;