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fix: AZ ALT drivers staying energized on 0 length moves - #311
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intercipere
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ClutchplateDude
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Oct 13, 2026
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Problem
When "Move AZ/ALT to home" is used in OATControl (
:MAAH#) while both AZ and ALT are already at home, the AZ/ALT drivers are enabled but never disabled again. They stay powered at full hold current until the next real AZ/ALT move, and the motors overheat.The same happens with any other zero-length AZ/ALT move, e.g.
:MAZ0#/:MAL0#.Cause
moveAZALTToHome(),moveBy()andmoveStepperBy()callenableAzMotor()/enableAltMotor()(EN LOW) and then queue the move. The drivers are only disabled again inMount::loop(), when_azAltWasRunningis set and neither stepper is running anymore._azAltWasRunningis only set once a stepper is actually seen running. For a zero-step move that never happens, sodisableAzAltMotors()is never called.Fix
enableAzMotor()/enableAltMotor()now set_azAltWasRunning = true. On its next pass,Mount::loop()disables the drivers (still respectingAZ_ALWAYS_ON/ALT_ALWAYS_ON) and stores the AZ/ALT positions to EEPROM, whether or not the move had any steps.All callers enable the driver and queue the move in the same call, with no
loop()in between, so a real move can't be disabled before it starts. The only side effect is one EEPROM position write per zero-length move.Tested on hardware.
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