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@@ -2744,11 +2744,28 @@ inline void gcode_G28() {
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2744
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2744
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float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
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2745
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2745
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y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
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2746
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2746
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z_tmp = current_position[Z_AXIS],
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2747
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- real_z = st_get_position_mm(Z_AXIS); //get the real Z (since the auto bed leveling is already correcting the plane)
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2747
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+ real_z = st_get_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
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2748
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2748
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2749
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2749
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apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the probe offset
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2750
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- //line below controls z probe offset, zprobe_zoffset is the actual offset that can be modified via m851 or is read from EEPROM
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2751
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- current_position[Z_AXIS] = z_tmp - real_z - zprobe_zoffset; // The difference is added to current position and sent to planner.
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2750
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+
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2751
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+ // Get the current Z position and send it to the planner.
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2752
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+ //
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2753
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+ // >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z (since homing)
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2754
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+ //
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2755
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+ // >> zprobe_zoffset : Z distance from nozzle to probe (set by default, M851, EEPROM, or Menu)
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2756
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+ //
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2757
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+ // >> Z_RAISE_AFTER_PROBING : The distance the probe will have lifted after the last probe
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2758
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+ //
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2759
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+ // >> Should home_offset[Z_AXIS] be included?
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2760
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+ //
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2761
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+ // Discussion: home_offset[Z_AXIS] was applied in G28 to set the starting Z.
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2762
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+ // If Z is not tweaked in G29 -and- the Z probe in G29 is not actually "homing" Z...
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2763
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+ // then perhaps it should not be included here. The purpose of home_offset[] is to
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2764
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+ // adjust for inaccurate endstops, not for reasonably accurate probes. If it were
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2765
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+ // added here, it could be seen as a compensating factor for the Z probe.
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2766
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+ //
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2767
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+ current_position[Z_AXIS] = -zprobe_zoffset + Z_RAISE_AFTER_PROBING + (z_tmp - real_z);
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2768
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+ // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The probe determines Z=0, not "Z home"
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2752
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2769
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sync_plan_position();
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2753
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2770
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}
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2754
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2771
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#endif // !DELTA
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