Fixed another delta bug, changed version to 3.4.0beta4

1 files changed, 12 insertions, 5 deletions

diff --git a/src/Movement/DriveMovement.cpp b/src/Movement/DriveMovement.cpp
index a2f20206..3ae424b2 100644
--- a/src/Movement/DriveMovement.cpp
+++ b/src/Movement/DriveMovement.cpp
@@ -470,18 +470,25 @@ bool DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params) n
 		const float drev = ((dda.directionVector[Z_AXIS] * fastSqrtf(params.a2plusb2 * params.dparams->GetDiagonalSquared(drive) - fsquare(A * dda.directionVector[Y_AXIS] - B * dda.directionVector[X_AXIS])))
 							- aAplusbB)/params.a2plusb2;
 		mp.delta.reverseStartDistance = drev;
-		if (drev > 0.0 && drev < dda.totalDistance)						// if the reversal point is within range
+		if (drev > 0.0 && drev < dda.totalDistance)								// if the reversal point is within range
 		{
 			// Calculate how many steps we need to move up before reversing
 			const float hrev = dda.directionVector[Z_AXIS] * drev + fastSqrtf(dSquaredMinusAsquaredMinusBsquared - 2 * drev * aAplusbB - params.a2plusb2 * fsquare(drev));
 			const int32_t numStepsUp = (int32_t)((hrev - mp.delta.h0MinusZ0) * stepsPerMm);
 
-			// We may be almost at the peak height already, in which case we don't really have a reversal.
+			// We may be going down but almost at the peak height already, in which case we don't really have a reversal.
+			// However, we could be going up by a whole step due to rounding, so we need to check the direction
 			if (numStepsUp < 1)
 			{
-				mp.delta.reverseStartDistance = -1.0;					// so that we know we have reversed already
-				reverseStartStep = totalSteps + 1;
-				direction = false;
+				if (direction)
+				{
+					mp.delta.reverseStartDistance = dda.totalDistance + 1.0;	// indicate that there is no reversal
+				}
+				else
+				{
+					mp.delta.reverseStartDistance = -1.0;						// so that we know we have reversed already
+					reverseStartStep = totalSteps + 1;
+				}
 			}
 			else if (direction && (uint32_t)numStepsUp <= totalSteps)
 			{