Kalico additions¶

Changes to Klipper defaults¶

[force_move] is enabled by default. Use [force_move] enable_force_move: False to disable it
[respond] is enabled by default. Use [respond] enable_respond: False to disable it
[exclude_object] is enabled by default. Use [exclude_object] enable_exclude_object: False to disable it

[mcu] is_non_critical enables marking of an mcu as optional - it can be freely disconnected and connected at will. (useful for MCU-based accelerometer boards, mcu-based probes that shut down in hot chambers, etc...)
[danger_options] - New configuration options to adjust Kalico values that were previously hidden
Additional kinematics versions enabled per-axis acceleration, see limited_cartesian and limited_corexy
--rotate-log-at-restart can be added to your Kalico start script or service to force log rotation every restart.
[virtual_sdcard] with_subdirs enables scanning of subdirectories for .gcode files, for the menu and M20/M23 commands
[firmware_retraction] z_hop_height adds an automatic z hop when using firmware retraction
[constants] and ${constants.value} allow re-using values in your configuration

canbus_query.py now responds with all Kalico devices, even after they've been assigned a node_id.

[tmcXXXX] home_current automatically sets a different current for homing
[tmcXXXX] current_change_dwell_time will add a delay before homing
[stepper_X] homing_retract_dist, homing_retract_speed add a short retraction and a second homing for better accuracy
[stepper_X] min_home_dist will move away from the endstop before homing

[probe] drop_first_result: True will drop the first result when probing. This can improve probe accuracy for printers that have an outlier for the first sample.
[dockable_probe] brings helpful native support for docked probes, such as the Annex Quickdraw, Klicky/Unklicky, and countless others.
[z_calibration] enables automatic probe Z offset calibration using a reference endstop like the Voron 2.4 nozzle endstop.
[z_tilt_ng] adds enforced 3-point z tilt calibration
[z_tilt/quad_gantry_level] increasing_threshold allows you to customize the allowed variation when probing multiple times
[z_tilt/quad_gantry_level] adaptive_horizontal_move_z adaptively decrease horizontal_move_z based on resulting error - z_tilt and QGL faster and safer!
[safe_z_home] home_y_before_x let you home Y before X.

Model Predictive Control is an advanced temperature control method that offers an alternative to traditional PID control.
Velocity PID can be more accurate than positional PID, but is more susceptible to noisy sensors and may require larger smoothing times
PID_PROFILE [LOAD/SAVE] allows you to calibrate and save PID profiles at multiple temperatures and fan speeds, and later restore them. With some clever macros, automatic per-material pid tuning is within reach!
SET_HEATER_PID HEATER= KP= KI= KD= can update your PID parameters without a reload.
HEATER_INTERRUPT will interrupt a TEMPERATURE_WAIT.
ADC out of range errors now include which heater, and additional information to assist in troubleshooting

[temperature_fan] control: curve lets you set a fan curve instead of linear control
[temperature_fan] reverse: True will let you control a fan in reverse to temperature control. The lower the temperature, the higher the fan runs.
Fans now normalize PWM power within off_below and max_power, so setting a fan to 10% will get you 10% fan speed within your configured off/max range.

The jinja do extension has been enabled. You can now call functions in your macros without resorting to dirty hacks: {% do array.append(5) %}
The python math library is available to macros. {math.sin(math.pi * variable)} and more!
New RELOAD_GCODE_MACROS G-Code command to reload [gcode_macro] templates without requiring a restart.
G-Code Macros can be written in Python. Read more here

Extend your Kalico installation with custom plugins.

Your python plugins can now extend klippy/extras adding new modules to Kalico without causing updates to fail due to a "dirty" git tree.

Enable [danger_options] allow_plugin_override: True to override existing extras.