store_pa_in_trapq danger flag

klippy/chelper/kin_extruder.c

@@ -59,10 +59,20 @@ pa_move_integrate(struct move *m, double pressure_advance
         start = 0.;
     if (end > m->move_t)
         end = m->move_t;
+    // figure out what to use for pressure advance
+    // use_pa_from_trapq is passed in via the move's axes_r.z field
+    // if this is True (not 0), we use the pressure advance value in the axes_r.y
+    // otherwise, we use the one passed in as an arg to this function (the stored one)
+    int use_pa_from_trapq = m->axes_r.z != 0.;
+    if (use_pa_from_trapq) {
+        pressure_advance = m->axes_r.y;
+    }
+    else {
+        int can_pressure_advance = m->axes_r.y != 0.;
+        if (!can_pressure_advance)
+            pressure_advance = 0.;
+    }
     // Calculate base position and velocity with pressure advance
-    int can_pressure_advance = m->axes_r.y != 0.;
-    if (!can_pressure_advance)
-        pressure_advance = 0.;
     base += pressure_advance * m->start_v;
     double start_v = m->start_v + pressure_advance * 2. * m->half_accel;
     // Calculate definitive integral

klippy/extras/danger_options.py

@@ -23,6 +23,7 @@ def __init__(self, config):
             "homing_elapsed_distance_tolerance", 0.5, minval=0.0
         )
         self.adc_ignore_limits = config.getboolean("adc_ignore_limits", False)
+        self.store_pa_in_trapq = config.getboolean("store_pa_in_trapq", False)
 
 
 def load_config(config):

klippy/kinematics/extruder.py

@@ -216,6 +216,7 @@ def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
 class PrinterExtruder:
     def __init__(self, config, extruder_num):
         self.printer = config.get_printer()
+        self.danger_options = self.printer.lookup_object("danger_options")
         self.name = config.get_name()
         self.last_position = 0.0
         # Setup hotend heater
@@ -357,9 +358,12 @@ def move(self, print_time, move):
         accel = move.accel * axis_r
         start_v = move.start_v * axis_r
         cruise_v = move.cruise_v * axis_r
-        can_pressure_advance = False
+        pressure_advance = 0.0
         if axis_r > 0.0 and (move.axes_d[0] or move.axes_d[1]):
-            can_pressure_advance = True
+            pressure_advance = self.extruder_stepper.pressure_advance
+        use_pa_from_trapq = (
+            1.0 if self.danger_options.store_pa_in_trapq else 0.0
+        )
         # Queue movement (x is extruder movement, y is pressure advance flag)
         self.trapq_append(
             self.trapq,
@@ -371,8 +375,8 @@ def move(self, print_time, move):
             0.0,
             0.0,
             1.0,
-            can_pressure_advance,
-            0.0,
+            pressure_advance,
+            use_pa_from_trapq,
             start_v,
             cruise_v,
             accel,