diff --git a/kstars/ekos/focus/focus.h b/kstars/ekos/focus/focus.h
--- a/kstars/ekos/focus/focus.h
+++ b/kstars/ekos/focus/focus.h
@@ -624,6 +624,7 @@
         // Experimental linear focuser.
         std::unique_ptr<FocusAlgorithmInterface> linearFocuser;
         int focuserAdditionalMovement { 0 };
+        int linearRequestedPosition { 0 };
 
         bool hasDeviation { false };
 };
diff --git a/kstars/ekos/focus/focus.cpp b/kstars/ekos/focus/focus.cpp
--- a/kstars/ekos/focus/focus.cpp
+++ b/kstars/ekos/focus/focus.cpp
@@ -691,7 +691,8 @@
             maxTravelIN->value(), stepIN->value(), position, absMotionMin, absMotionMax,
             MAXIMUM_ABS_ITERATIONS, toleranceIN->value() / 100.0, filter());
         linearFocuser.reset(MakeLinearFocuser(params));
-        const int newPosition = adjustLinearPosition(position, linearFocuser->initialPosition());
+        linearRequestedPosition = linearFocuser->initialPosition();
+        const int newPosition = adjustLinearPosition(position, linearRequestedPosition);
         if (newPosition != position)
         {
             if (!changeFocus(newPosition - position))
@@ -1721,6 +1722,18 @@
     if (!autoFocusChecks())
         return;
 
+    if (!canAbsMove && !canRelMove && canTimerMove)
+    {
+        const bool kFixPosition = true;
+        if (kFixPosition && (linearRequestedPosition != static_cast<int>(currentPosition)))
+        {
+            qCDebug(KSTARS_EKOS_FOCUS) << "Linear: warning, changing position " << currentPosition << " to "
+                                       << linearRequestedPosition;
+
+            currentPosition = linearRequestedPosition;
+        }
+    }
+
     hfr_position.append(currentPosition);
     hfr_value.append(currentHFR);
 
@@ -1760,10 +1773,9 @@
         }
      }
 
-    const int nextPosition = adjustLinearPosition(
-                                 static_cast<int>(currentPosition),
-                                 linearFocuser->newMeasurement(currentPosition, currentHFR));
-    if (nextPosition == -1)
+    linearRequestedPosition = linearFocuser->newMeasurement(currentPosition, currentHFR);
+    const int nextPosition = adjustLinearPosition(static_cast<int>(currentPosition), linearRequestedPosition);
+    if (linearRequestedPosition == -1)
     {
         if (linearFocuser->isDone() && linearFocuser->solution() != -1)
         {
@@ -2275,6 +2287,9 @@
 
 void Focus::processFocusNumber(INumberVectorProperty *nvp)
 {
+    qCDebug(KSTARS_EKOS_FOCUS) << QString("processFocusNumber %1 %2")
+                                  .arg(nvp->name).arg(nvp->s == IPS_OK ? "OK" : "ERROR");
+
     // Return if it is not our current focuser
     if (strcmp(nvp->device, currentFocuser->getDeviceName()))
         return;
@@ -2291,6 +2306,7 @@
         if (pos)
         {
             currentPosition = pos->value;
+            qCDebug(KSTARS_EKOS_FOCUS) << QString("Abs Focuser position changed to %1").arg(currentPosition);
             absTicksLabel->setText(QString::number(static_cast<int>(currentPosition)));
             emit absolutePositionChanged(currentPosition);
         }
@@ -2363,6 +2379,9 @@
         if (pos && nvp->s == IPS_OK)
         {
             currentPosition += pos->value * (lastFocusDirection == FOCUS_IN ? -1 : 1);
+            qCDebug(KSTARS_EKOS_FOCUS)
+                    << QString("Rel Focuser position changed by %1 to %2")
+                       .arg(pos->value).arg(currentPosition);
             absTicksLabel->setText(QString::number(static_cast<int>(currentPosition)));
             emit absolutePositionChanged(currentPosition);
         }
@@ -2409,7 +2428,12 @@
             // Used by the linear focus algorithm. Ignored if that's not in use for the timer-focuser.
             INumber *pos = IUFindNumber(nvp, "FOCUS_TIMER_VALUE");
             if (pos)
+            {
                 currentPosition += pos->value * (lastFocusDirection == FOCUS_IN ? -1 : 1);
+                qCDebug(KSTARS_EKOS_FOCUS)
+                        << QString("Timer Focuser position changed by %1 to %2")
+                           .arg(pos->value).arg(currentPosition);
+            }
             autoFocusProcessPositionChange(nvp->s);
         }
         else if (nvp->s == IPS_ALERT)
diff --git a/kstars/ekos/focus/focus.ui b/kstars/ekos/focus/focus.ui
--- a/kstars/ekos/focus/focus.ui
+++ b/kstars/ekos/focus/focus.ui
@@ -1201,7 +1201,7 @@
                </item>
                <item>
                 <property name="text">
-                 <string>Linear (Experimental v3)</string>
+                 <string>Linear (Experimental v3.1)</string>
                 </property>
                </item>
               </widget>
diff --git a/kstars/ekos/focus/focusalgorithms.cpp b/kstars/ekos/focus/focusalgorithms.cpp
--- a/kstars/ekos/focus/focusalgorithms.cpp
+++ b/kstars/ekos/focus/focusalgorithms.cpp
@@ -125,7 +125,7 @@
     secondPassStartIndex = -1;
 
     qCDebug(KSTARS_EKOS_FOCUS)
-            << QString("Linear: v3. 1st pass. Travel %1 initStep %2 pos %3 min %4 max %5 maxIters %6 tolerance %7 minlimit %8 maxlimit %9")
+            << QString("Linear: v3.1. 1st pass. Travel %1 initStep %2 pos %3 min %4 max %5 maxIters %6 tolerance %7 minlimit %8 maxlimit %9")
                .arg(params.maxTravel).arg(params.initialStepSize).arg(params.startPosition).arg(params.minPositionAllowed)
                .arg(params.maxPositionAllowed).arg(params.maxIterations).arg(params.focusTolerance).arg(minPositionLimit).arg(maxPositionLimit);