[LinuxCNC/linuxcnc Issue#40] ja: surprise switch to World mode when turning on

I’m testing with joints_axes11 (0199e98). I’m using Axis with a 4-joint, 3-axis gantrykins config (J1 and J3 are my gantry).

Start LinuxCNC, home, switch to World mode. Trigger an Estop with F1. Switch to Joint mode. Come out of Estop (F1) and turn the machine on (F2), and it automatically switches to World mode, surprising this operator.

It’s debatable what the right behavior here is. In my config, all 4 joints stay homed after entering estop, so it’s not unreasonable to switch to World mode when turning the machine on. On the other hand, I did explicitly tell it to go to Joint mode, so it switching to World mode is showing more initiative than i’m used to in my CNC machines.

I think I want the machine to automatically switch from Joint to World mode immediately after successfully homing (this is reasonable now that we have world-mode incremental jogging), and then not change the mode unless I command it, but I welcome debate on this.