From a707616035584194b1ae48bd52cda30eef5b0dac Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Thu, 12 May 2022 08:35:27 +0200
Subject: [PATCH] Avoid detecting StallGuard in StealtMode

---
 src/modules/movable_base.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index 47e9b5a..4d9d518 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -22,6 +22,7 @@ void MovableBase::PlanHome() {
 
 MovableBase::OperationResult MovableBase::InitMovement() {
     if (motion.InitAxis(axis)) {
+        mm::motion.StallGuardReset(axis);
         PrepareMoveToPlannedSlot();
         state = Moving;
         return OperationResult::Accepted;
@@ -36,7 +37,7 @@ void MovableBase::PerformMove() {
         // TMC2130 entered some error state, the planned move couldn't have been finished - result of operation is Failed
         tmcErrorFlags = mm::motion.DriverForAxis(axis).GetErrorFlags(); // save the failed state
         state = TMCFailed;
-    } else if (mm::motion.StallGuard(axis) && SupportsHoming()) {
+    } else if (SupportsHoming() && (!mg::globals.MotorsStealth()) && mm::motion.StallGuard(axis)) {
         // Axis stalled while moving - dangerous especially with the Selector
         // Checked only for axes which support homing (because we plan a homing move after the error is resolved to regain precise position)
         mm::motion.StallGuardReset(axis);