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
[include] variables let one included file be reused with different values, e.g. one board config for several toolhead MCUs

SET_NOZZLE_DIAMETER changes an extruder's nozzle diameter (and optionally its max extrusion cross section) at runtime, e.g. for toolheads with different nozzles or a high-flow purge line.
canbus_query.py now responds with all Kalico devices, even after they've been assigned a node_id.
Input shaper calibration now warns about active fans that may affect measurement accuracy.
BED_MESH_CHECK validates the current bed mesh against specified criteria, allowing you to check maximum deviation and slope between adjacent points before printing.
[resonance_tester] now supports multiple accelerometer chips via the new accel_chips parameter, allowing data from multiple accelerometers to be combined for more accurate input shaper calibration.

[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.
[probe <name>] adds named probes, so a printer can have more than one. Pick one with PROBE=<name> on probing commands and list them with LIST_PROBES.
[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.
[z_tilt/quad_gantry_level/etc] use_probe_xy_offsets let you decide if the `[probe] XY offsets should be applied to probe positions.
[z_tilt/quad_gantry_level/etc] alternate_probe_direction alternates probing direction between retry passes to reduce cable, Bowden tube, umbilical, and filament path twisting, while avoiding the extra travel move back to the first point.

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 min_power and max_power, so setting a fan to 10% will get you 10% fan speed within your configured min/max range.
Dual-loop PID control to accurately manage the bed's temperature while limiting heater power to prevent exceeding a maximum temperature.

[tmc2240] driver_CS and current_range let you tune the current scaler and current range of your tmc2240 drivers.
Sensorless homing via SPI polls the stallguard flag of SPI drivers, so no DIAG pin is needed.

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
- Macros may also be loaded from other files, using !!include path/to/file.py
Inside a macro you can use RETURN to end macro execution early without raising an error.

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.