From b6bcb901f35a2558c349e468b28c9e3b04c8e022 Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Thu, 27 Jun 2019 12:50:53 +0200
Subject: [PATCH] Correct initialization of eISR_Err

Further tweak the initial term to improve the linearity of the resulting
speed after BW filtering.
---
 Firmware/stepper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp
index 1283675c..b30f77e6 100644
--- a/Firmware/stepper.cpp
+++ b/Firmware/stepper.cpp
@@ -846,7 +846,7 @@ FORCE_INLINE void isr() {
 
 #ifdef LIN_ADVANCE
     // avoid multiple instances or function calls to advance_spread
-    if (la_state & ADV_INIT) eISR_Rate = current_block->advance_rate / 2;
+    if (la_state & ADV_INIT) eISR_Err = current_block->advance_rate / 4;
     if (la_state & ADV_INIT || nextAdvanceISR != ADV_NEVER) {
         advance_spread(main_Rate);
         if (la_state & ADV_DECELERATE) {