ini: warn when PLANNER_TYPE=1 falls back to trapezoidal due to low jerk - #4390
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Setting [TRAJ]PLANNER_TYPE = 1 with [TRAJ]MAX_LINEAR_JERK < 1.0 silently forced the trapezoidal planner, leaving users who requested S-curve planning with no indication their setting was ignored (the code even carried a FIXME asking for this warning). The same silent fallback existed for runtime changes via the inihal HAL pins. Print a one-time warning in both paths: at startup from loadTraj(), and once from check_ini_hal_items() when a HAL pin change triggers the fallback.
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This is one of those points that are better addressed in code rather than in the docs, discussed at the meeting |
BsAtHome
approved these changes
Aug 16, 2026
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This wasn't in the docs, wasn't it? Or would the docs also need an update in the PR? |
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PLANNER_TYPE = 1withMAX_LINEAR_JERK < 1.0silently forced the trapezoidal planner, both at startup (loadTraj(), which carried a FIXME asking for this warning) and at runtime via the inihal HAL pins. Users who requested S-curve planning got no indication their setting was ignored.This prints a warning in both paths: at startup, and once per session for HAL-pin-triggered fallbacks.
Note: #4349 documents the old silent behavior in
ini-config.adoc; that sentence becomes stale if this merges first.