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tp: fix acceleration spikes during parabolic blending #3778

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Merged
rmu75 merged 2 commits into from
Feb 2, 2026
+2 −1
Merged

tp: fix acceleration spikes during parabolic blending #3778

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703b225
tp: fix acceleration spikes during parabolic blending
Feb 2, 2026
0d70d8b
Merge branch 'upstream'
Feb 2, 2026
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3 changes: 2 additions & 1 deletion src/emc/tp/tp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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