Merge pull request #7221 from thinkyhead/bf_fix_reachable

Fix for issues #6997 and #7152

Marlin/Marlin_main.cpp

    *   - Raise to the BETWEEN height
    * - Return the probed Z position
    */
-  float probe_pt(const float &x, const float &y, const bool stow, const uint8_t verbose_level) {
+  float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable=true) {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) {
-        SERIAL_ECHOPAIR(">>> probe_pt(", x);
-        SERIAL_ECHOPAIR(", ", y);
+        SERIAL_ECHOPAIR(">>> probe_pt(", lx);
+        SERIAL_ECHOPAIR(", ", ly);
         SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
         SERIAL_ECHOLNPGM("stow)");
         DEBUG_POS("", current_position);
       }
     #endif
 
-    if (!position_is_reachable_by_probe_xy(x, y)) return NAN;
+    const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
+
+    if (printable)
+      if (!position_is_reachable_by_probe_xy(lx, ly)) return NAN;
+    else
+      if (!position_is_reachable_xy(nx, ny)) return NAN;
 
     const float old_feedrate_mm_s = feedrate_mm_s;
 
     feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
 
     // Move the probe to the given XY
-    do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
+    do_blocking_move_to_xy(nx, ny);
 
     if (DEPLOY_PROBE()) return NAN;
 
 
     if (verbose_level > 2) {
       SERIAL_PROTOCOLPGM("Bed X: ");
-      SERIAL_PROTOCOL_F(x, 3);
+      SERIAL_PROTOCOL_F(lx, 3);
       SERIAL_PROTOCOLPGM(" Y: ");
-      SERIAL_PROTOCOL_F(y, 3);
+      SERIAL_PROTOCOL_F(ly, 3);
       SERIAL_PROTOCOLPGM(" Z: ");
       SERIAL_PROTOCOL_F(measured_z, 3);
       SERIAL_EOL();
      *      P3     Probe all positions: center, towers and opposite towers. Set all.
      *      P4-P7  Probe all positions at different locations and average them.
      *
-     *   T   Don't calibrate tower angle corrections
+     *   T0  Don't calibrate tower angle corrections
      *
      *   Cn.nn Calibration precision; when omitted calibrates to maximum precision
      *
         return;
       }
 
-      const bool towers_set           = !parser.boolval('T'),
+      const bool towers_set           = parser.boolval('T', true),
                  stow_after_each      = parser.boolval('E'),
                  _1p_calibration      = probe_points == 1,
                  _4p_calibration      = probe_points == 2,
                  _7p_quadruple_circle = probe_points == 7,
                  _7p_multi_circle     = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
                  _7p_intermed_points  = _7p_calibration && !_7p_half_circle;
-
-      if (!_1p_calibration) {  // test if the outer radius is reachable
-        const float circles = (_7p_quadruple_circle ? 1.5 :
-                               _7p_triple_circle    ? 1.0 :
-                               _7p_double_circle    ? 0.5 : 0),
-                    radius = (1 + circles * 0.1) * delta_calibration_radius;
-        for (uint8_t axis = 1; axis < 13; ++axis) {
-          if (!position_is_reachable_xy(cos(RADIANS(180 + 30 * axis)) * radius, sin(RADIANS(180 + 30 * axis)) * radius)) {
-            SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
-            return;
-          }
-        }
-      }
-
       const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
       const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
                   dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
             alpha_old = delta_tower_angle_trim[A_AXIS],
             beta_old = delta_tower_angle_trim[B_AXIS];
 
+       if (!_1p_calibration) {  // test if the outer radius is reachable
+        const float circles = (_7p_quadruple_circle ? 1.5 :
+                               _7p_triple_circle    ? 1.0 :
+                               _7p_double_circle    ? 0.5 : 0),
+                    r = (1 + circles * 0.1) * delta_calibration_radius;
+        for (uint8_t axis = 1; axis < 13; ++axis) {
+          const float a = RADIANS(180 + 30 * axis);
+          if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
+            SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
+            return;
+          }
+        }
+      }
       SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
 
       stepper.synchronize();
         SERIAL_EOL();
       }
 
-      home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1); // 1st probe to set height
-      do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
-
+      home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
+      
       do {
 
-        float z_at_pt[13] = { 0.0 }, S1 = 0.0, S2 = 0.0;
-        int16_t N = 0;
+        float z_at_pt[13] = { 0.0 };
 
         test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
 
         // Probe the points
 
         if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
-          z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1);
+          z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
         }
         if (_7p_calibration) { // probe extra center points
           for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
             const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
-            z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+            z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
           }
           z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
         }
             for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
               const float a = RADIANS(180 + 30 * axis),
                           r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
-              z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+              z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
             }
             zig_zag = !zig_zag;
             z_at_pt[axis] /= (2 * offset_circles + 1);
           }
         }
         if (_7p_intermed_points) // average intermediates to tower and opposites
-          for (uint8_t axis = 1; axis <= 11; axis += 2)
+          for (uint8_t axis = 1; axis < 13; axis += 2)
             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[0];
-        S2 += sq(z_at_pt[0]);
-        N++;
+        float S1 = z_at_pt[0],
+              S2 = sq(z_at_pt[0]);
+        int16_t N = 1;
         if (!_1p_calibration) // std dev from zero plane
           for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
             S1 += z_at_pt[axis];

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

   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
-  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
-
-  // Center-to-center distance of the holes in the diagonal push rods.
-  #define DELTA_DIAGONAL_ROD 218.0 // 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 to home position
-  #define DELTA_HEIGHT 295.00 // get this value from auto calibrate - use G33 P1 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
 
   // Delta calibration menu
   // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
   #define DELTA_CALIBRATION_MENU
 
-  // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
-  #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
-
-  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
   #define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 4 // set the default number of probe points : n*n (-7 -> +7)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
   #endif
 
-  // After homing move down to a height where XY movement is unconstrained
-  #define DELTA_HOME_TO_SAFE_ZONE
+  #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
+    // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
+    #define DELTA_CALIBRATION_RADIUS 73.5 // mm
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 85.0 // mm
 
-  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 218.0 // mm
+
+  // height from z=0 to home position
+  #define DELTA_HEIGHT 295.00 // get this value from auto calibrate
+
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
 
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 101.0 //mm  Get this value 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, 0, 0 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
 
 #endif
 

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

   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
-  // 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 (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 P1 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
 
   // Delta calibration menu
   // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
-  // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
-  #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
-
-  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
   //#define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
   #endif
 
-  // After homing move down to a height where XY movement is unconstrained
-  //#define DELTA_HOME_TO_SAFE_ZONE
+  #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
+    // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
+    #define DELTA_CALIBRATION_RADIUS 73.5 // mm
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 85.0 // mm
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 218.0 // mm
+
+  // height from z=0 to home position
+  #define DELTA_HEIGHT 280.00 // get this value from auto calibrate
 
-  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
 
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 101.0 //mm  Get this value 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, 0, 0 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
 
 #endif
 

Marlin/example_configurations/delta/generic/Configuration.h

   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 200
 
-  // 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 end effector.
-  #define DELTA_EFFECTOR_OFFSET 33.0 // 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 (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 P1 at 1st time calibration
-
-  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
-  #define DELTA_PRINTABLE_RADIUS 140.0
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
 
   // Delta calibration menu
+  // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
-  // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
-  #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
-
-  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
   //#define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
   #endif
 
-  // After homing move down to a height where XY movement is unconstrained
-  //#define DELTA_HOME_TO_SAFE_ZONE
+  #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
+    // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
+    #define DELTA_CALIBRATION_RADIUS 121.5 // mm
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 140.0 // mm
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 250.0 // mm
+
+  // height from z=0 to home position
+  #define DELTA_HEIGHT 250.00 // get this value from auto calibrate
 
-  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
 
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 124.0 //mm  Get this value 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, 0, 0 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
 
 #endif
 

Marlin/example_configurations/delta/kossel_mini/Configuration.h

   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 200
 
-  // 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 end effector.
-  #define DELTA_EFFECTOR_OFFSET 19.9 // 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 (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 P1 at 1st time calibration
-
-  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
-  #define DELTA_PRINTABLE_RADIUS 90.0
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
 
   // Delta calibration menu
+  // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
-  // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
-  #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
-
-  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
   //#define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
   #endif
 
-  // After homing move down to a height where XY movement is unconstrained
-  //#define DELTA_HOME_TO_SAFE_ZONE
+  #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
+    // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
+    #define DELTA_CALIBRATION_RADIUS 78.0 // mm
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 90.0 // mm
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 215.0 // mm
+
+  // height from z=0 to home position
+  #define DELTA_HEIGHT 250.00 // get this value from auto calibrate
 
-  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
 
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 105.2 //mm  Get this value 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, 0, 0 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
 
 #endif
 

Marlin/example_configurations/delta/kossel_pro/Configuration.h

   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
-  // 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 end effector.
-  #define DELTA_EFFECTOR_OFFSET 30.0 // 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 (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 P1 at 1st time calibration
-
-  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
-  #define DELTA_PRINTABLE_RADIUS 127.0
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
 
   // Delta calibration menu
+  // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
-  // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
-  #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
-
-  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
   //#define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
   #endif
 
-  // After homing move down to a height where XY movement is unconstrained
-  //#define DELTA_HOME_TO_SAFE_ZONE
+  #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
+    // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
+    #define DELTA_CALIBRATION_RADIUS 110.0 // mm
+  #endif
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 127.0 // mm
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 301.0 // mm
+
+  // height from z=0 to home position
+  #define DELTA_HEIGHT 277.00 // get this value from auto calibrate
 
-  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
 
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 152.357 //mm  Get this value 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, 0, 0 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
 
 #endif
 

Marlin/example_configurations/delta/kossel_xl/Configuration.h

   // and processor overload (too many expensive sqrt calls).
   #define DELTA_SEGMENTS_PER_SECOND 160
 
-  // 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 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 (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 P1 at 1st time calibration
-
-  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
-  #define DELTA_PRINTABLE_RADIUS 140.0
+  // After homing move down to a height where XY movement is unconstrained
+  //#define DELTA_HOME_TO_SAFE_ZONE
 
   // Delta calibration menu
+  // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
-  // set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 if DELTA_AUTO_CALIBRATION enabled
-  #define DELTA_CALIBRATION_RADIUS ((DELTA_PRINTABLE_RADIUS) * 0.869) // mm
-
-  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  // uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
   //#define DELTA_AUTO_CALIBRATION
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
   #if ENABLED(DELTA_AUTO_CALIBRATION)
-    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (-7 -> +7)
+    // set the default number of probe points : n*n (1 -> 7)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 4
   #endif
 
-  // After homing move down to a height where XY movement is unconstrained
-  //#define DELTA_HOME_TO_SAFE_ZONE
+  #if ENABLED(DELTA_AUTO_CALIBRATION) || ENABLED(DELTA_CALIBRATION_MENU)
+    // Set the radius for the calibration probe points - max DELTA_PRINTABLE_RADIUS*0.869 for non-eccentric probes
+    #define DELTA_CALIBRATION_RADIUS 121.5 // mm
+  #endif
 
-  #define DELTA_ENDSTOP_ADJ { 0, 0, 0 } // get these from auto calibrate
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 140.0 // mm
 
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 319.5 // mm
+
+  // height from z=0 to home position
+  #define DELTA_HEIGHT 380.00 // get this value from auto calibrate
+
+  #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // get these from auto calibrate
+
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 174.1 //mm  Get this value 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, 0, 0 } // get these from auto calibrate
+  #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // get these values from auto calibrate
 
   // delta radius and diaginal rod adjustments measured in mm
-  //#define DELTA_RADIUS_TRIM_TOWER {0, 0, 0}
-  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER {0, 0, 0}
+  //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
+  //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
 
 #endif
 

Marlin/ubl_G29.cpp

 
   extern float meshedit_done;
   extern long babysteps_done;
-  extern float probe_pt(const float &x, const float &y, const bool, const uint8_t);
+  extern float probe_pt(const float &lx, const float &ly, const bool, const uint8_t, const bool=true);
   extern bool set_probe_deployed(bool);
   extern void set_bed_leveling_enabled(bool);
   typedef void (*screenFunc_t)();