Upstream sync

config/sample-cartographer-v3.cfg

@@ -50,3 +50,4 @@ frequency: 24000000
 i2c_address: 42
 i2c_mcu: carto
 i2c_bus: i2c1_PB6_PB7
+descend_z: 0.5

docs/Config_Changes.md

@@ -8,6 +8,19 @@ All dates in this document are approximate.
 
 ## Changes
 
+20260318: The `[probe_eddy_current]` config options `speed`,
+`lift_speed`, `samples`, `sample_retract_dist`, `samples_result`,
+`samples_tolerance`, and `samples_tolerance_retries` no longer apply
+to probe commands using `METHOD=scan`, `METHOD=rapid_scan`, nor
+`METHOD=tap`. To use different settings, supply the equivalent
+`PROBE_SPEED`, `LIFT_SPEED`, `SAMPLES`, `SAMPLE_RETRACT_DIST`,
+`SAMPLES_RESULT`, `SAMPLES_TOLERANCE`, or `SAMPLES_TOLERANCE_RETRIES`
+parameter with the probe command.
+
+20260318: The `[probe_eddy_current]` config option `z_offset` has been
+renamed to `descend_z`. Using the old name is deprecated and it will
+be removed in the near future.
+
 20260214: The `MANUAL_STEPPER` G-Code command `STOP_ON_ENDSTOP`
 parameter has changed. See the
 [MANUAL_STEPPER](G-Codes.md#manual_stepper) documentation for

docs/Config_Reference.md

@@ -2137,32 +2137,44 @@ z_offset:
 #   The distance (in mm) between the bed and the nozzle when the probe
 #   triggers. This parameter must be provided.
 #speed: 5.0
-#   Speed (in mm/s) of the Z axis when probing. The default is 5mm/s.
+#   Speed (in mm/s) of the Z axis when probing. It may be possible to
+#   change this value at runtime via a "PROBE_SPEED" command
+#   parameter. The default is 5mm/s.
 #samples: 1
 #   The number of times to probe each point. The probed z-values will
-#   be averaged. The default is to probe 1 time.
+#   be averaged. It may be possible to change this value at runtime
+#   via a "SAMPLES" command parameter. The default is to probe 1 time.
 #sample_retract_dist: 2.0
 #   The distance (in mm) to lift the toolhead between each sample (if
-#   sampling more than once). The default is 2mm.
+#   sampling more than once). It may be possible to change this value
+#   at runtime via a "SAMPLE_RETRACT_DIST" command parameter. The
+#   default is 2mm.
 #lift_speed:
 #   Speed (in mm/s) of the Z axis when lifting the probe between
-#   samples. The default is to use the same value as the 'speed'
-#   parameter.
+#   samples. It may be possible to change this value at runtime via a
+#   "LIFT_SPEED" command parameter. The default is to use the same
+#   value as the 'speed' parameter.
 #samples_result: average
 #   The calculation method when sampling more than once - either
-#   "median" or "average". The default is average.
+#   "median" or "average". It may be possible to change this value at
+#   runtime via a "SAMPLES_RESULT" command parameter. The default is
+#   average.
 #samples_tolerance: 0.100
 #   The maximum Z distance (in mm) that a sample may differ from other
 #   samples. If this tolerance is exceeded then either an error is
 #   reported or the attempt is restarted (see
-#   samples_tolerance_retries). The default is 0.100mm.
+#   samples_tolerance_retries). It may be possible to change this
+#   value at runtime via a "SAMPLES_TOLERANCE" command parameter. The
+#   default is 0.100mm.
 #samples_tolerance_retries: 0
 #   The number of times to retry if a sample is found that exceeds
 #   samples_tolerance. On a retry, all current samples are discarded
 #   and the probe attempt is restarted. If a valid set of samples are
 #   not obtained in the given number of retries then an error is
-#   reported. The default is zero which causes an error to be reported
-#   on the first sample that exceeds samples_tolerance.
+#   reported. It may be possible to change this value at runtime via a
+#   "SAMPLES_TOLERANCE_RETRIES" command parameter. The default is zero
+#   which causes an error to be reported on the first sample that
+#   exceeds samples_tolerance.
 #activate_gcode:
 #   A list of G-Code commands to execute prior to each probe attempt.
 #   See docs/Command_Templates.md for G-Code format. This may be
@@ -2305,7 +2317,7 @@ sensor_type: ldc1612
 #intb_pin:
 #   MCU gpio pin connected to the ldc1612 sensor's INTB pin (if
 #   available). The default is to not use the INTB pin.
-#z_offset:
+#descend_z:
 #   The nominal distance (in mm) between the nozzle and bed that a
 #   probing attempt should stop at. This parameter must be provided.
 #i2c_address:
@@ -2318,14 +2330,19 @@ sensor_type: ldc1612
 #   settings" section for a description of the above parameters.
 #x_offset:
 #y_offset:
+#   The distance (in mm) between the probe and the nozzle along the
+#   x and y axes. The default is 0.
 #speed:
 #lift_speed:
 #samples:
 #sample_retract_dist:
 #samples_result:
 #samples_tolerance:
 #samples_tolerance_retries:
-#   See the "probe" section for information on these parameters.
+#   See the "probe" section for information on these parameters. Note
+#   that the settings here apply only to regular probe commands. These
+#   settings do not have an effect if using a probe "METHOD" of
+#   "scan", "rapid_scan", or "tap".
 #tap_threshold:
 #   Noise cutoff/stop trigger threshold (in Hz). Specify this value to
 #   enable support for "METHOD=tap" probe commands. See Eddy_Probe.md
@@ -2336,6 +2353,12 @@ sensor_type: ldc1612
 #   the bed. If this value is specified then one may override its
 #   value at run-time using the "TAP_THRESHOLD" parameter on probe
 #   commands. The default is to not enable support for "tap" probing.
+#tap_z_offset: 0.0
+#   The Z height (in mm) of the nozzle relative to the bed at the
+#   contact point detected during "tap" probing. Nominally this would
+#   be 0.0 to indicate the contact point has zero distance, but one
+#   may set this to account for backlash, thermal expansion, a
+#   systemic probing bias, or similar. The default is zero.
 ```
 
 ### [axis_twist_compensation]

docs/Eddy_Probe.md

@@ -11,7 +11,7 @@ for further details.
 
 Start by declaring a
 [probe_eddy_current config section](Config_Reference.md#probe_eddy_current)
-in the printer.cfg file. It is recommended to set the `z_offset` to
+in the printer.cfg file. It is recommended to set `descend_z` to
 0.5mm. It is typical for the sensor to require an `x_offset` and
 `y_offset`. If these values are not known, one should estimate the
 values during initial calibration.
@@ -42,11 +42,11 @@ tool completes it will output the sensor performance data:
 ```
 probe_eddy_current: noise 0.000642mm, MAD_Hz=11.314 in 2525 queries
 Total frequency range: 45000.012 Hz
-z_offset: 0.250 # noise 0.000200mm, MAD_Hz=11.000
-z_offset: 0.530 # noise 0.000300mm, MAD_Hz=12.000
-z_offset: 1.010 # noise 0.000400mm, MAD_Hz=14.000
-z_offset: 2.010 # noise 0.000600mm, MAD_Hz=12.000
-z_offset: 3.010 # noise 0.000700mm, MAD_Hz=9.000
+z: 0.250 # noise 0.000200mm, MAD_Hz=11.000
+z: 0.530 # noise 0.000300mm, MAD_Hz=12.000
+z: 1.010 # noise 0.000400mm, MAD_Hz=14.000
+z: 2.010 # noise 0.000600mm, MAD_Hz=12.000
+z: 3.010 # noise 0.000700mm, MAD_Hz=9.000
 ```
 issue a `SAVE_CONFIG` command to save the results to
 the printer.cfg and restart.
@@ -116,15 +116,6 @@ Practically, it ensures that the Eddy's output data absolute value
 change per second (velocity) is high enough - higher than the noise level,
 and that upon collision it always decreases by at least this value.
 
-```
-[probe_eddy_current my_probe]
-# eddy probe configuration...
-# Recommended starting values for the tap
-#samples: 3
-#samples_tolerance: 0.025
-#samples_tolerance_retries: 3
-```
-
 Before setting it to any other value, it is necessary to install `scipy`:
 
 ```bash
@@ -167,7 +158,7 @@ calibration routine output:
 ```
 probe_eddy_current: noise 0.000642mm, MAD_Hz=11.314
 ...
-z_offset: 1.010 # noise 0.000400mm, MAD_Hz=14.000
+z: 1.010 # noise 0.000400mm, MAD_Hz=14.000
 ```
 The estimation will be:
 ```

docs/G-Codes.md

@@ -1251,6 +1251,14 @@ additional parameters if a `[probe_eddy_current]` section is defined:
   specified in the `[probe_eddy_current]` config section when probing
   using `METHOD=tap`.
 
+The `Z_OFFSET_APPLY_PROBE` command is also extended to support a
+`METHOD=tap` parameter. When no METHOD parameter is provided, the
+`Z_OFFSET_APPLY_PROBE` command alters the probe calibration to apply
+the current Z G-Code offset to future `scan`, `rapid_scan`, and
+default probes. If `METHOD=tap` is specified then the command instead
+applies the change to `tap_z_offset` so that future `tap` probes are
+updated to use the current Z G-Code offset.
+
 #### PROBE_EDDY_CURRENT_CALIBRATE
 `PROBE_EDDY_CURRENT_CALIBRATE CHIP=<config_name>`: This starts a tool
 that calibrates the sensor resonance frequencies to corresponding Z

klippy/extras/load_cell_probe.py

@@ -5,7 +5,7 @@
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, math
 import mcu
-from . import probe, trigger_analog, load_cell, hx71x, ads1220
+from . import probe, manual_probe, trigger_analog, load_cell, hx71x, ads1220
 
 np = None  # delay NumPy import until configuration time
 
@@ -426,7 +426,8 @@ def end_probe_session(self):
     # probe until a single good sample is returned or retries are exhausted
     def run_probe(self, gcmd):
         epos, is_good = self._tapping_move.run_tap(gcmd)
-        res = self._probe_offsets.create_probe_result(epos)
+        offsets = self._probe_offsets.get_offsets()
+        res = manual_probe.create_probe_result(epos, offsets)
         self._results.append(res)
 
     def pull_probed_results(self):

klippy/extras/manual_probe.py

@@ -1,6 +1,6 @@
 # Helper script for manual z height probing
 #
-# Copyright (C) 2019-2025  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2019-2026  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, bisect, collections
@@ -14,6 +14,13 @@
 ProbeResult = collections.namedtuple('probe_result', [
     'bed_x', 'bed_y', 'bed_z', 'test_x', 'test_y', 'test_z'])
 
+# Helper to create a ProbeResult from a test position and probe offsets
+def create_probe_result(test_pos, offsets=(0., 0., 0.)):
+    x_offset, y_offset, z_offset = offsets
+    return ProbeResult(
+        test_pos[0]+x_offset, test_pos[1]+y_offset, test_pos[2]-z_offset,
+        test_pos[0], test_pos[1], test_pos[2])
+
 # Helper to lookup the Z stepper config section
 def lookup_z_endstop_config(config):
     if config.has_section('stepper_z'):
@@ -283,7 +290,7 @@ def finalize(self, success):
         mpresult = None
         if success:
             kin_pos = self.get_kinematics_pos()
-            mpresult = ProbeResult(*(kin_pos[:3] + kin_pos[:3]))
+            mpresult = create_probe_result(kin_pos)
         self.finalize_callback(mpresult)
 
 def load_config(config):

klippy/extras/probe.py

@@ -270,7 +270,8 @@ def run_probe(self, gcmd):
         speed = self.param_helper.get_probe_params(gcmd)['probe_speed']
         phoming = self.printer.lookup_object('homing')
         ppos = phoming.probing_move(self.mcu_probe, pos, speed)
-        res = self.probe_offsets.create_probe_result(ppos)
+        offsets = self.probe_offsets.get_offsets()
+        res = manual_probe.create_probe_result(ppos, offsets)
         self.results.append(res)
     def pull_probed_results(self):
         res = self.results
@@ -430,10 +431,6 @@ def __init__(self, config):
         self.z_offset = config.getfloat('z_offset')
     def get_offsets(self, gcmd=None):
         return self.x_offset, self.y_offset, self.z_offset
-    def create_probe_result(self, test_pos):
-        return manual_probe.ProbeResult(
-            test_pos[0]+self.x_offset, test_pos[1]+self.y_offset,
-            test_pos[2]-self.z_offset, test_pos[0], test_pos[1], test_pos[2])
 
 
 ######################################################################