kalman added

PID.c

@@ -149,6 +149,7 @@ static double getspeed(const coordval_t *tagpos, PIDController_t *pid, axisdata_
                 // TODO: we can point somehow that we are at target or introduce new axis state
             }else DBG("Current abs error: %g", fe);
             break;
+        case AXIS_GONNASTOP:
         case AXIS_STOPPED: // start pointing to target; will change speed next time
             DBG("AXIS STOPPED!!!! --> Slewing");
             axis->state = AXIS_SLEWING;