From 0b23ccdee9ff811f871d1fee450172e61d3f053e Mon Sep 17 00:00:00 2001
From: Alex Voinea <voinea.dragos.alexandru@gmail.com>
Date: Fri, 29 Apr 2022 20:38:48 +0200
Subject: [PATCH] Abort arc on planner hard stop

---
 Firmware/motion_control.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Firmware/motion_control.cpp b/Firmware/motion_control.cpp
index af7e69a8..e2442894 100644
--- a/Firmware/motion_control.cpp
+++ b/Firmware/motion_control.cpp
@@ -150,6 +150,9 @@ void mc_arc(float* position, float* target, float* offset, float feed_rate, floa
             clamp_to_software_endstops(position);
             // Insert the segment into the buffer
             plan_buffer_line(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS], feed_rate, extruder, position);
+            // Handle the situation where the planner is aborted hard.
+            if (waiting_inside_plan_buffer_line_print_aborted)
+                return;
         }
     }
     // Clamp to the target position.