t_max_a is placed on the wrong place.

controller/block/block_setpoint_generator.c

@@ -218,6 +218,7 @@ static void setpoint_generator_calculate(struct controller_block *spg)
 {
 	struct controller_block_private *priv = spg->private;
 	double cur_x, cur_v;
+	double t_max_a;
 	bool ignore_x = false;
 	bool must_brake = false;
 	bool good_x;
@@ -226,6 +227,8 @@ static void setpoint_generator_calculate(struct controller_block *spg)
 	cur_x = priv->cur_x;
 	cur_v = priv->cur_v;
 
+	t_max_a = priv->t_max_a;
+
 	if (*priv->reset) {
 		priv->cmd_x = *priv->reset_x;
 		cur_x = priv->cmd_x;
@@ -332,7 +335,7 @@ static void setpoint_generator_calculate(struct controller_block *spg)
 		double error_x_jneg;
 		double error_v = priv->cmd_v - cur_v;
 		double x, v, a, j, t;
-		double req_x, req_v, t_max_a, v_delta_from_max_a;
+		double req_x, req_v, v_delta_from_max_a;
 		double error_v_after_a, error_x_at_v;
 		double j_from_pos;
 		bool state_at_max_a = false;
@@ -365,7 +368,6 @@ static void setpoint_generator_calculate(struct controller_block *spg)
 			j_from_pos = 0;
 		}
 		
-		t_max_a = priv->t_max_a;
 		v_delta_from_max_a = priv->v_delta_from_max_a;
 
 		j = copysign(priv->max_j, error_v);