From 932643bb96050de952adbe4e26cdf23f53ee70c2 Mon Sep 17 00:00:00 2001
From: Joseph Coffland <joseph@cauldrondevelopment.com>
Date: Sun, 11 Sep 2016 08:22:11 -0700
Subject: [PATCH] Fixed target calculation

---
 src/machine.c   | 5 +++--
 src/plan/arc.c  | 3 ++-
 src/plan/exec.c | 2 +-
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/machine.c b/src/machine.c
index ef71fab..b72b60f 100644
--- a/src/machine.c
+++ b/src/machine.c
@@ -410,7 +410,7 @@ void mach_calc_model_target(float target[], const float values[],
       if (mach.gm.distance_mode == ABSOLUTE_MODE)
         target[axis] =
           mach_get_active_coord_offset(axis) + TO_MILLIMETERS(values[axis]);
-      else target[axis] += TO_MILLIMETERS(values[axis]);
+      else target[axis] = mach.position[axis] + TO_MILLIMETERS(values[axis]);
     }
   }
 
@@ -432,7 +432,7 @@ void mach_calc_model_target(float target[], const float values[],
     if (mach.gm.distance_mode == ABSOLUTE_MODE)
       // sacidu93's fix to Issue #22
       target[axis] = tmp + mach_get_active_coord_offset(axis);
-    else target[axis] += tmp;
+    else target[axis] = mach.position[axis] + tmp;
   }
 }
 
@@ -673,6 +673,7 @@ void mach_resume_origin_offsets() {
 // Free Space Motion (4.3.4)
 static stat_t _feed(float values[], bool flags[]) {
   float target[AXES];
+  copy_vector(target, mach.position);
   mach_calc_model_target(target, values, flags);
 
   // test soft limits
diff --git a/src/plan/arc.c b/src/plan/arc.c
index 8d8666b..d7eaf39 100644
--- a/src/plan/arc.c
+++ b/src/plan/arc.c
@@ -433,8 +433,9 @@ stat_t mach_arc_feed(float values[], bool values_f[],   // arc endpoints
   } else if (full_circle) rotations = 1; // default to 1 for full circles
 
   // Set model target
-  mach_calc_model_target(arc.target, values, values_f);
   const float *position = mach_get_position();
+  copy_vector(arc.target, position);
+  mach_calc_model_target(arc.target, values, values_f);
 
   // in radius mode it's an error for start == end
   if (radius_f && fp_EQ(position[AXIS_X], arc.target[AXIS_X]) &&
diff --git a/src/plan/exec.c b/src/plan/exec.c
index 612eb4d..e55a708 100644
--- a/src/plan/exec.c
+++ b/src/plan/exec.c
@@ -247,7 +247,7 @@ static stat_t _exec_aline_section(float length, float vin, float vout) {
 
     // len / avg. velocity
     float move_time = 2 * length / (vin + vout);
-    ex.segments = ceil(usec(move_time) / NOM_SEGMENT_USEC);
+    ex.segments = ceil(move_time * MICROSECONDS_PER_MINUTE / NOM_SEGMENT_USEC);
     ex.segment_time = move_time / ex.segments;
     ex.segment_count = (uint32_t)ex.segments;
 
-- 
2.27.0