From 368c124de8ffbb234ff8bb6c45ce0e1ab07e91da Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Wed, 13 Dec 2017 17:46:48 -0600
Subject: [PATCH] Fix Planner::unskew parity with skew
---
Marlin/src/module/planner.h | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 8b14dd5dcf..73b4b069c6 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -353,8 +353,8 @@ class Planner {
FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
- const float sx = cx - (cy * xy_skew_factor) - (cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor))),
- sy = cy - (cz * yz_skew_factor);
+ const float sx = cx - cy * xy_skew_factor - cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
+ sy = cy - cz * yz_skew_factor;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy;
}
@@ -363,7 +363,7 @@ class Planner {
FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
- const float sx = cx + cy * xy_skew_factor + cz * xz_skew_factor,
+ const float sx = cx + cy * xy_skew_factor + cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor)),
sy = cy + cz * yz_skew_factor;
if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
cx = sx; cy = sy;
--
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