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🔍 Preloop Code ReviewLast Updated: 2026-02-25 17:16:54Z 📝 SummaryThis PR fixes the homing offset reference frame and persists homing planner parameters in NVM, with a new HITL test for persistence. No blocking issues found. ✅ What Looks Good
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HomingPlannerConfig was missing from the NVM save/restore chain, causing homing parameters to revert to defaults after power cycle. Co-authored-by: Cursor <cursoragent@cursor.com>
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Note
Medium Risk
Changes touch homing reference frames and NVM persistence, which are safety-adjacent but localized and covered by a new persistence test.
Overview
Fixes the homing offset to use the position observer frame instead of the user frame. Adds homing planner config persistence to NVM and restores it on load. Includes a HITL test to validate homing parameter persistence across save/load.
Written by Preloop PR Reviewer for commit 873788d. Updates automatically on new commits.