Proposed changes

This is what I did yesterday:

- basicly gave the tests more comprehensive names; put all the
declarations at the top; got rid of the magic negative C-value (renamed
to P + A, O, T)

- "cos(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 :
-1)) * delta_calibration_radius" compiles wrong is zig_zag statement is
without brackets

- DELTA_TOWER_ANGLE_TRIM reset to 3 values (the calcs use the 3th value
to normalize will not compile otherwise)

-Wrote 3 dummies to keep EEPROM lenght the same

-Reset the configs to the 'original' with autocal + menu disabled (but
can be enabled of course)

Marlin/Conditionals_post.h

       #define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - 10
     #endif
     #ifndef DELTA_ENDSTOP_ADJ
-      #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 }
+      #define DELTA_ENDSTOP_ADJ { 0, 0, 0 }
     #endif
     #ifndef DELTA_TOWER_ANGLE_TRIM
-      #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0 } // C always 0.0
+      #define DELTA_TOWER_ANGLE_TRIM {0, 0, 0}
     #endif
     #ifndef DELTA_RADIUS_TRIM_TOWER
-      #define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+      #define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
     #endif
     #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER
-      #define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
+      #define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
     #endif
   #endif
 

Marlin/Marlin_main.cpp

  * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
  * G31 - Dock sled (Z_PROBE_SLED only)
  * G32 - Undock sled (Z_PROBE_SLED only)
- * G33 - Delta '4-7-point' auto calibration : "G33 C<points> V<verbose>" (Requires DELTA)
+ * G33 - Delta '1-4-7-point' auto calibration : "G33 P<points> <A> <O> <T> V<verbose>" (Requires DELTA)
  * G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
  * G90 - Use Absolute Coordinates
  * G91 - Use Relative Coordinates
 
   #if ENABLED(DELTA_AUTO_CALIBRATION)
     /**
-     * G33 - Delta Auto Calibration
-     *       Utility to calibrate height, endstop offsets, delta radius, and tower angles.
-     *
-     * Parameters:
-     *
-     *   C0     Calibrate height
-     *   C1     Probe the center to set the Z height
-     *   C-1    same but 1 iteration only
-     *   C2     probe center and towers, set height, endstops, and delta radius
-     *   C-2    same but opposite towers
-     *
-     *   C3     probe all points: center, towers and opposite towers / sets all
-     *
-     *   C4-C7  probe all points multiple times and average
-     *   C0-C3  same but tower angle calibration disabled
-     *
-     *   V0     Dry-run mode
-     *   V1     Output settings
-     *   V2     Output setting and probe results
+     * G33 - Delta '1-4-7-point' auto calibration (Requires DELTA)
+     * 
+     * Usage:
+     *   G33 <Pn> <A> <O> <T> <Vn>
+     *   
+     *     Pn = n=-7 -> +7 : n*n probe points
+     *          calibrates height ('1 point'), endstops, and delta radius ('4 points') 
+     *          and tower angles with n > 2 ('7+ points')
+     *          n=1  probes center / sets height only
+     *          n=2  probes center and towers / sets height, endstops and delta radius
+     *          n=3  probes all points: center, towers and opposite towers / sets all
+     *          n>3  probes all points multiple times and averages
+     *     A  = abort 1 point delta height calibration after 1 probe
+     *     O  = use oposite tower points instead of tower points with 4 point calibration
+     *     T  = do not calibrate tower angles with 7+ point calibration
+     *     Vn = verbose level (n=0-2 default 1)
+     *          n=0 dry-run mode: no calibration
+     *          n=1 settings 
+     *          n=2 setting + probe results 
      */
     inline void gcode_G33() {
 
-      if (axis_unhomed_error(true, true, true)) return;
-
-      const int8_t c_value = code_seen('C') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS;
-      if (!WITHIN(c_value, -7, 7)) {
-        SERIAL_PROTOCOLLNPGM("?C parameter is implausible (-7 to 7).");
-        return;
-      }
-
-      const int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
-      if (!WITHIN(verbose_level, 0, 2)) {
-        SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-2).");
-        return;
-      }
-
       stepper.synchronize();
 
       #if PLANNER_LEVELING
         set_bed_leveling_enabled(false);
       #endif
 
-      const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
+      int8_t pp = code_seen('P') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS,
+                   probe_mode = (WITHIN(pp, 1, 7)) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS;
+
+      probe_mode = (code_seen('A') && probe_mode == 1) ? -probe_mode : probe_mode;
+      probe_mode = (code_seen('O') && probe_mode == 2) ? -probe_mode : probe_mode;
+      probe_mode = (code_seen('T') && probe_mode > 2) ? -probe_mode : probe_mode;
+      
+      int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
 
-      const uint8_t probe_points = abs(c_value);
+      if (!WITHIN(verbose_level, 0, 2)) verbose_level = 1;
 
-      const bool neg = c_value < 0,
-                 equals4 = probe_points == 4,
-                 over4 = probe_points > 4,
-                 over5 = probe_points > 5;
+      gcode_G28();
 
-      float e_old[XYZ],
+      const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
+      float test_precision,
+            zero_std_dev = verbose_level ? 999.0 : 0.0,                                          // 0.0 in dry-run mode : forced end
+            e_old[XYZ] = {
+              endstop_adj[A_AXIS],
+              endstop_adj[B_AXIS],
+              endstop_adj[C_AXIS]
+            },
             dr_old = delta_radius,
             zh_old = home_offset[Z_AXIS],
             alpha_old = delta_tower_angle_trim[A_AXIS],
-            beta_old = delta_tower_angle_trim[B_AXIS];
-
-      COPY(e_old, endstop_adj);
-
+            beta_old = delta_tower_angle_trim[B_AXIS]; 
+      int8_t iterations = 0,
+             probe_points = abs(probe_mode);
+      bool _1_point = (probe_points <= 1),
+           _7_point = (probe_mode > 2),
+           o_mode = (probe_mode == -2),
+           towers = (probe_points > 2 || probe_mode == 2),
+           opposites = (probe_points > 2 || o_mode);
+ 
       // print settings
 
       SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
       LCD_MESSAGEPGM("Checking... AC");
 
       SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
-      if (probe_points > 1) {
+      if (!_1_point) {
         SERIAL_PROTOCOLPGM("    Ex:");
         if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
         SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
         SERIAL_PROTOCOLPAIR("    Radius:", delta_radius);
       }
       SERIAL_EOL;
-      if (c_value > 2) {
+      if (_7_point) {
         SERIAL_PROTOCOLPGM(".Tower angle :    Tx:");
         if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
         SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);
         DEPLOY_PROBE();
       #endif
 
-      float zero_std_dev = verbose_level ? 999.0 : 0.0, // 0.0 in dry-run mode : forced end
-            test_precision;
-      int8_t iterations = 0;
       do {
 
-        setup_for_endstop_or_probe_move();
+        float z_at_pt[13] = { 0 },
+              S1 = z_at_pt[0],
+              S2 = sq(S1);
+        int16_t N = 1;
+        bool _4_probe = (probe_points == 2),
+             _7_probe = (probe_points > 2),
+             center_probe = (probe_points != 3 &&  probe_points != 6),
+             multi_circle = (probe_points > 4),
+             diff_circle = (probe_points > 5),
+             max_circle = (probe_points > 6),
+             intermediates = (probe_points == 4 || diff_circle);
 
+        setup_for_endstop_or_probe_move();
         test_precision = zero_std_dev;
-        float z_at_pt[13] = { 0 };
         iterations++;
 
         // probe the points
 
         int16_t center_points = 0;
 
-        if (probe_points != 3 && probe_points != 6) {                                       // probe center
+        if (center_probe) {  // probe centre
           z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
           center_points = 1;
         }
 
-        int16_t step_axis = over4 ? 2 : 4;
-        if (probe_points >= 3) {                                                            // probe extra 3 or 6 center points
-          for (int8_t axis = over4 ? 11 : 9; axis > 0; axis -= step_axis) {
+        int16_t step_axis = (multi_circle) ? 2 : 4,
+                start = (multi_circle) ? 11 : 9;                                              
+        if (_7_probe) {  // probe extra 3 or 6 centre points
+          for (int8_t axis = start; axis > 0; axis -= step_axis) {              
             z_at_pt[0] += probe_pt(
               cos(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius),
               sin(RADIANS(180 + 30 * axis)) * (0.1 * delta_calibration_radius), true, 1);
           }
-          center_points += over4 ? 6 : 3;                                       // average center points
+          center_points += (multi_circle) ? 6 : 3;  // average centre points
           z_at_pt[0] /= center_points;
         }
 
-        float S1 = z_at_pt[0], S2 = sq(S1);
+        start = (o_mode) ? 3 : 1;
+        step_axis = (_4_probe) ? 4 : (intermediates) ? 1 : 2;
 
-        int16_t N = 1, start = (c_value == -2) ? 3 : 1;
-        step_axis = (probe_points == 2) ? 4 : (equals4 || over5) ? 1 : 2;
-
-        if (probe_points > 1) {
-          float start_circles = (probe_points > 6) ? -1.5 : over4 ? -1 : 0, // one or multi radius points
-                  end_circles = -start_circles;
+        if (!_1_point) {
+          float start_circles = (max_circle) ? -1.5 : (multi_circle) ? -1 : 0,  // one or multi radius points
+                end_circles = -start_circles;
           bool zig_zag = true;
           for (uint8_t axis = start; axis < 13; axis += step_axis) {                             // probes 3, 6 or 12 points on the calibration radius
             for (float circles = start_circles ; circles <= end_circles; circles++)              // one or multi radius points
               z_at_pt[axis] += probe_pt(
-                cos(RADIANS(180 + 30 * axis)) * ((1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius),
-                sin(RADIANS(180 + 30 * axis)) * ((1 + circles * 0.1 * (zig_zag ? 1 : -1)) * delta_calibration_radius), true, 1);
+                cos(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius, 
+                sin(RADIANS(180 + 30 * axis)) * (1 + circles * 0.1 * ((zig_zag) ? 1 : -1)) * delta_calibration_radius, true, 1);
 
-            if (over5) start_circles += zig_zag ? +0.5 : -0.5;            // opposites: one radius point less
-            if (over5) end_circles += zig_zag ? -0.5 : +0.5;
+            if (diff_circle) {
+              start_circles += (zig_zag) ? 0.5 : -0.5;  // opposites: one radius point less
+              end_circles = -start_circles;
+            }
             zig_zag = !zig_zag;
-            if (over4) z_at_pt[axis] /= (zig_zag ? 3.0 : 2.0);              // average between radius points
+            if (multi_circle) z_at_pt[axis] /= (zig_zag) ? 3.0 : 2.0;  // average between radius points
           }
         }
+        if (intermediates) step_axis = 2;
 
-        if (equals4 || over5) step_axis = 2;
         for (uint8_t axis = start; axis < 13; axis += step_axis) {                               // average half intermediates to towers and opposites
-          if (equals4 || over5)
+          if (intermediates)
             z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
 
           S1 += z_at_pt[axis];
           #define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
           #define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
 
-          switch (c_value) {
+          switch (probe_mode) {
             case -1:
               test_precision = 0.00;
             case 1:
               e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
               e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
               r_delta         = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
-
-              if (c_value > 0) {                                                            //probe points negative disables tower angles
+              
+              if (probe_mode > 0) {  //probe points negative disables tower angles
                 t_alpha = + Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
                 t_beta  = - Z0888(1) + Z0444(5) + Z0444(9) - Z0888(7) + Z0444(11) + Z0444(3);
               }
         // print report
 
         if (verbose_level == 2) {
-          SERIAL_PROTOCOLPGM(".     c:");
+          SERIAL_PROTOCOLPGM(".      c:");
           if (z_at_pt[0] > 0) SERIAL_CHAR('+');
           SERIAL_PROTOCOL_F(z_at_pt[0], 2);
-          if (probe_points > 2 || c_value == 2) {
+          if (towers) {
             SERIAL_PROTOCOLPGM("     x:");
             if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
             SERIAL_PROTOCOL_F(z_at_pt[1], 2);
             if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
             SERIAL_PROTOCOL_F(z_at_pt[9], 2);
           }
-          if (c_value != -2) SERIAL_EOL;
-          if (probe_points > 2 || c_value == -2) {
-            if (probe_points > 2) {
+          if (!o_mode) SERIAL_EOL;
+          if (opposites) {
+            if (_7_probe) {
               SERIAL_CHAR('.');
               SERIAL_PROTOCOL_SP(12);
             }
             lcd_setstatus(mess);
           }
           SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
-          if (probe_points > 1) {
+          if (!_1_point) {
             SERIAL_PROTOCOLPGM("    Ex:");
             if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
             SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
             SERIAL_PROTOCOLPAIR("    Radius:", delta_radius);
           }
           SERIAL_EOL;
-          if (c_value > 2) {
+          if (_7_point) {
             SERIAL_PROTOCOLPGM(".Tower angle :    Tx:");
             if (delta_tower_angle_trim[A_AXIS] >= 0) SERIAL_CHAR('+');
             SERIAL_PROTOCOL_F(delta_tower_angle_trim[A_AXIS], 2);

Marlin/configuration_store.cpp

 #define EEPROM_OFFSET 100
 
 /**
- * V33 EEPROM Layout:
+ * V35 EEPROM Layout:
  *
  *  100  Version                                    (char x4)
  *  104  EEPROM Checksum                            (uint16_t)
       EEPROM_WRITE(delta_radius);              // 1 float
       EEPROM_WRITE(delta_diagonal_rod);        // 1 float
       EEPROM_WRITE(delta_segments_per_second); // 1 float
-      EEPROM_WRITE(delta_calibration_radius);  // 1 floats
+      EEPROM_WRITE(delta_calibration_radius);  // 1 float
       EEPROM_WRITE(delta_tower_angle_trim);    // 2 floats
+      dummy = 0.0f;
+      for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy);
     #elif ENABLED(Z_DUAL_ENDSTOPS)
       EEPROM_WRITE(z_endstop_adj);             // 1 float
       dummy = 0.0f;
         EEPROM_READ(delta_radius);              // 1 float
         EEPROM_READ(delta_diagonal_rod);        // 1 float
         EEPROM_READ(delta_segments_per_second); // 1 float
-        EEPROM_READ(delta_calibration_radius);  // 1 floats
+        EEPROM_READ(delta_calibration_radius);  // 1 float
         EEPROM_READ(delta_tower_angle_trim);    // 2 floats
+        dummy = 0.0f;
+        for (uint8_t q=3; q--;) EEPROM_READ(dummy);
       #elif ENABLED(Z_DUAL_ENDSTOPS)
         EEPROM_READ(z_endstop_adj);
         dummy = 0.0f;
 
   #if ENABLED(DELTA)
     const float adj[ABC] = DELTA_ENDSTOP_ADJ,
-                dta[2] = DELTA_TOWER_ANGLE_TRIM;
+                dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
     COPY(endstop_adj, adj);
     delta_radius = DELTA_RADIUS;
     delta_diagonal_rod = DELTA_DIAGONAL_ROD;

Marlin/example_configurations/delta/FLSUN/auto_calibrate/Configuration.h

 
   // Center-to-center distance of the holes in the diagonal push rods.
   #define DELTA_DIAGONAL_ROD 218.0 // mm
-/*
-  // Horizontal offset from middle of printer to smooth rod center.
-  #define DELTA_SMOOTH_ROD_OFFSET 150.0 // mm
 
-  // Horizontal offset of the universal joints on the end effector.
-  #define DELTA_EFFECTOR_OFFSET 24.0 // mm
-
-  // Horizontal offset of the universal joints on the carriages.
-  #define DELTA_CARRIAGE_OFFSET 22.0 // mm
-*/
   // Horizontal distance bridged by diagonal push rods when effector is centered.
   #define DELTA_RADIUS 100.00 //mm // get this value from auto calibrate
 
-  // height from z=0.00 to home position
-  #define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
+  // height from z=0 to home position
+  #define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 A at 1st time calibration
 
   // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
   #define DELTA_PRINTABLE_RADIUS 85.0
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
-  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
   // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
   // measured in degrees anticlockwise looking from above the printer
-  #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
 
 #endif
 
 #define DEFAULT_XJERK                 20.0
 #define DEFAULT_YJERK                 DEFAULT_XJERK
 #define DEFAULT_ZJERK                 DEFAULT_YJERK // Must be same as XY for delta
-#define DEFAULT_EJERK                 5.0
+#define DEFAULT_EJERK                  5.0
 
 
 /**
  *   is enabled then it also applies to Z_PROBE_SPEED_SLOW.
  */
 
+// A probe that is deployed and stowed with a solenoid pin (SOL1_PIN)
+//#define SOLENOID_PROBE
+
 // Enable if you have a Z probe mounted on a sled like those designed by Charles Bell.
 //#define Z_PROBE_SLED
 //#define SLED_DOCKING_OFFSET 5  // The extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
 #define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
 
 // Speed for the "accurate" probe of each point
-#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 6)
+#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST) / 6
 
 // Use double touch for probing
 //#define PROBE_DOUBLE_TOUCH
   #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X 0.0
   #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y DELTA_PRINTABLE_RADIUS
   #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
-  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_SPEED/10)
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_SPEED)/10
 
   #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X Z_PROBE_ALLEN_KEY_DEPLOY_2_X * 0.75
   #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y Z_PROBE_ALLEN_KEY_DEPLOY_2_Y * 0.75
 #define INVERT_Y_DIR true
 #define INVERT_Z_DIR true
 
-// Enable this option for Toshiba steppers
+// Enable this option for Toshiba steppers drivers
 //#define CONFIG_STEPPERS_TOSHIBA
 
 // @section extruder

Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h

 
   // Center-to-center distance of the holes in the diagonal push rods.
   #define DELTA_DIAGONAL_ROD 218.0 // mm
-/*
+
   // Horizontal offset from middle of printer to smooth rod center.
   #define DELTA_SMOOTH_ROD_OFFSET 150.0 // mm
 
 
   // Horizontal offset of the universal joints on the carriages.
   #define DELTA_CARRIAGE_OFFSET 22.0 // mm
-*/
+
   // Horizontal distance bridged by diagonal push rods when effector is centered.
-  #define DELTA_RADIUS 104 //mm // get this value from auto calibrate
+  #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
 
   // height from z=0.00 to home position
   #define DELTA_HEIGHT 280 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
   // Delta calibration menu
   // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  #define DELTA_CALIBRATION_MENU
+  //#define DELTA_CALIBRATION_MENU
 
   // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
   #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 17) // mm
   
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  #define DELTA_AUTO_CALIBRATION
+  //#define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
     #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
-  #define DELTA_HOME_TO_SAFE_ZONE
+  //#define DELTA_HOME_TO_SAFE_ZONE
 
-  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
   // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
   // measured in degrees anticlockwise looking from above the printer
-  #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
 
 #endif
 

Marlin/example_configurations/delta/generic/Configuration.h

 
   // Center-to-center distance of the holes in the diagonal push rods.
   #define DELTA_DIAGONAL_ROD 250.0 // mm
-/*
+
   // Horizontal offset from middle of printer to smooth rod center.
   #define DELTA_SMOOTH_ROD_OFFSET 175.0 // mm
 
 
   // Horizontal offset of the universal joints on the carriages.
   #define DELTA_CARRIAGE_OFFSET 18.0 // mm
-*/
+
   // Horizontal distance bridged by diagonal push rods when effector is centered.
-  #define DELTA_RADIUS 125 //mm // get this value from auto calibrate  // height from z=0.00 to home position
+  #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate  // height from z=0.00 to home position
+
+  // height from z=0.00 to home position
   #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
 
   // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
 
   // Delta calibration menu
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  #define DELTA_CALIBRATION_MENU
+  //#define DELTA_CALIBRATION_MENU
 
   // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
   #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
   
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  #define DELTA_AUTO_CALIBRATION
+  //#define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
     #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
-  #define DELTA_HOME_TO_SAFE_ZONE
+  //#define DELTA_HOME_TO_SAFE_ZONE
 
-  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
   // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
   // measured in degrees anticlockwise looking from above the printer
-  #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
 
 #endif
 

Marlin/example_configurations/delta/kossel_mini/Configuration.h

 
   // Center-to-center distance of the holes in the diagonal push rods.
   #define DELTA_DIAGONAL_ROD 215.0 // mm
-/*
+
   // Horizontal offset from middle of printer to smooth rod center.
   #define DELTA_SMOOTH_ROD_OFFSET 145.0 // mm
 
 
   // Horizontal offset of the universal joints on the carriages.
   #define DELTA_CARRIAGE_OFFSET 19.5 // mm
-*/
+
   // Horizontal distance bridged by diagonal push rods when effector is centered.
-  #define DELTA_RADIUS 105 //mm // get this value from auto calibrate
+  #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
 
   // height from z=0.00 to home position
   #define DELTA_HEIGHT 250 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
 
   // Delta calibration menu
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  #define DELTA_CALIBRATION_MENU
+  //#define DELTA_CALIBRATION_MENU
 
   // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
   #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 18) // mm
   
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  #define DELTA_AUTO_CALIBRATION
+  //#define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
     #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
-  #define DELTA_HOME_TO_SAFE_ZONE
+  //#define DELTA_HOME_TO_SAFE_ZONE
 
-  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
   // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
   // measured in degrees anticlockwise looking from above the printer
-  #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
 
 #endif
 

Marlin/example_configurations/delta/kossel_pro/Configuration.h

 
   // Center-to-center distance of the holes in the diagonal push rods.
   #define DELTA_DIAGONAL_ROD 301.0 // mm
-/*
+
   // Horizontal offset from middle of printer to smooth rod center.
   #define DELTA_SMOOTH_ROD_OFFSET 212.357 // mm
 
 
   // Horizontal offset of the universal joints on the carriages.
   #define DELTA_CARRIAGE_OFFSET 30.0 // mm
-*/
+
   // Horizontal distance bridged by diagonal push rods when effector is centered.
-  #define DELTA_RADIUS 150 //mm // get this value from auto calibrate
+  #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
 
   // height from z=0.00 to home position
   #define DELTA_HEIGHT 277 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
 
   // Delta calibration menu
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  #define DELTA_CALIBRATION_MENU
+  //#define DELTA_CALIBRATION_MENU
 
   // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
   #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 25.4) // mm
   
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  #define DELTA_AUTO_CALIBRATION
+  //#define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
     #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
-  #define DELTA_HOME_TO_SAFE_ZONE
+  //#define DELTA_HOME_TO_SAFE_ZONE
 
-  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
   // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
   // measured in degrees anticlockwise looking from above the printer
-  #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
 
 #endif
 

Marlin/example_configurations/delta/kossel_xl/Configuration.h

 
   // Center-to-center distance of the holes in the diagonal push rods.
   #define DELTA_DIAGONAL_ROD 317.3 + 2.5 // mm
-/*
+
   // Horizontal offset from middle of printer to smooth rod center.
   #define DELTA_SMOOTH_ROD_OFFSET 220.1 // mm
 
 
   // Horizontal offset of the universal joints on the carriages.
   #define DELTA_CARRIAGE_OFFSET 22.0 // mm
-*/
+
   // Horizontal distance bridged by diagonal push rods when effector is centered.
-  #define DELTA_RADIUS 175 //mm // get this value from auto calibrate
+  #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET) //mm // get this value from auto calibrate
 
   // height from z=0.00 to home position
   #define DELTA_HEIGHT 380 // get this value from auto calibrate - use G33 C-1 at 1st time calibration
 
   // Delta calibration menu
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  #define DELTA_CALIBRATION_MENU
+  //#define DELTA_CALIBRATION_MENU
 
   // set the radius for the calibration probe points - max 0.8 * DELTA_PRINTABLE_RADIUS if DELTA_AUTO_CALIBRATION enabled
   #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 28) // mm
   
   // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
-  #define DELTA_AUTO_CALIBRATION
+  //#define DELTA_AUTO_CALIBRATION
   #if ENABLED(DELTA_AUTO_CALIBRATION)
     #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
   #endif
 
   // After homing move down to a height where XY movement is unconstrained
-  #define DELTA_HOME_TO_SAFE_ZONE
+  //#define DELTA_HOME_TO_SAFE_ZONE
 
-  #define DELTA_ENDSTOP_ADJ { -0.00, -0.00, -0.00 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
 
   // Trim adjustments for individual towers
   // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
   // measured in degrees anticlockwise looking from above the printer
-  #define DELTA_TOWER_ANGLE_TRIM { 0.00, 0.00 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0, 0, 0 } // get these from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0.0, 0.0, 0.0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0.0, 0.0, 0.0}
+  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
 
 #endif
 

Marlin/ultralcd.cpp

       MENU_BACK(MSG_MAIN);
       #if ENABLED(DELTA_AUTO_CALIBRATION)
         MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
-        MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 C-1"));
+        MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1 A"));
       #endif
       MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
       if (axis_homed[Z_AXIS]) {