SCN 4323 made a change to prevent infinite loops when integrating eccentric angles from eccentric linear position. The method used had a flaw in the logic.

The method in SCN 4323 assumed that the absolute of the position error would always be decreasing, moving closer to zero. This was not true. The new method looks for the position error to change sign twice in a row. If that happens we are ping ponging between values and the position error is never going to fall below the threshold we are looking for.

This bug caused the home switch position on an eccentric and most likely a BOSS shear to be incorrect if the position was located between the Axis home position and the Axis full Extend position.

The bug was also causing the eccentric to rotate through 360 degrees to get to the home position after a reference.