diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index e5141429e7f7bb1f054b34d5d82db5177a603912..151ec22e937782b253bde8b50d326406cecaa73b 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -105,11 +105,10 @@ float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder
-// Initialized by settings.load()
-float Planner::e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement
- Planner::filament_size[EXTRUDERS], // As a baseline for the multiplier, filament diameter
+float Planner::e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement
+ Planner::filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
Planner::volumetric_area_nominal = CIRCLE_AREA((DEFAULT_NOMINAL_FILAMENT_DIA) * 0.5), // Nominal cross-sectional area
- Planner::volumetric_multiplier[EXTRUDERS]; // May be auto-adjusted by a filament width sensor
+ Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N],
Planner::max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
@@ -129,12 +128,11 @@ float Planner::min_feedrate_mm_s,
#if ABL_PLANAR
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
#endif
-#endif
-
-#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- float Planner::z_fade_height, // Initialized by settings.load()
- Planner::inverse_z_fade_height,
- Planner::last_fade_z;
+ #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+ float Planner::z_fade_height, // Initialized by settings.load()
+ Planner::inverse_z_fade_height,
+ Planner::last_fade_z;
+ #endif
#endif
#if ENABLED(AUTOTEMP)
@@ -571,7 +569,7 @@ void Planner::calculate_volumetric_multipliers() {
*/
void Planner::apply_leveling(float &rx, float &ry, float &rz) {
- if (!planner.leveling_active) return;
+ if (!leveling_active) return;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = fade_scaling_factor_for_z(rz);
@@ -614,20 +612,22 @@ void Planner::calculate_volumetric_multipliers() {
void Planner::unapply_leveling(float raw[XYZ]) {
- if (!planner.leveling_active) return;
+ if (!leveling_active) return;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- if (z_fade_height && raw[Z_AXIS] >= z_fade_height) return;
+ if (!leveling_active_at_z(raw[Z_AXIS])) return;
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
- const float z_correct = ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]);
- float z_raw = raw[Z_AXIS] - z_correct;
+ const float z_physical = raw[Z_AXIS],
+ z_correct = ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]),
+ z_virtual = z_physical - z_correct;
+ float z_raw = z_virtual;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- // for P=physical_z, L=raw_z, M=mesh_z, H=fade_height,
+ // for P=physical_z, L=logical_z, M=mesh_z, H=fade_height,
// Given P=L+M(1-L/H) (faded mesh correction formula for L<H)
// then L=P-M(1-L/H)
// so L=P-M+ML/H
@@ -637,7 +637,7 @@ void Planner::calculate_volumetric_multipliers() {
if (planner.z_fade_height) {
if (z_raw >= planner.z_fade_height)
- z_raw = raw[Z_AXIS];
+ z_raw = z_physical;
else
z_raw /= 1.0 - z_correct * planner.inverse_z_fade_height;
}
@@ -646,28 +646,32 @@ void Planner::calculate_volumetric_multipliers() {
raw[Z_AXIS] = z_raw;
- #elif ENABLED(MESH_BED_LEVELING)
+ return; // don't fall thru to other ENABLE_LEVELING_FADE_HEIGHT logic
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- const float c = mbl.get_z(raw[X_AXIS], raw[Y_AXIS], 1.0);
- raw[Z_AXIS] = (z_fade_height * (raw[Z_AXIS] - c)) / (z_fade_height - c);
- #else
- raw[Z_AXIS] -= mbl.get_z(raw[X_AXIS], raw[Y_AXIS]);
- #endif
+ #endif
+
+ #if ENABLED(MESH_BED_LEVELING)
+
+ if (leveling_active) {
+ #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+ const float c = mbl.get_z(raw[X_AXIS], raw[Y_AXIS], 1.0);
+ raw[Z_AXIS] = (z_fade_height * (raw[Z_AXIS]) - c) / (z_fade_height - c);
+ #else
+ raw[Z_AXIS] -= mbl.get_z(raw[X_AXIS], raw[Y_AXIS]);
+ #endif
+ }
#elif ABL_PLANAR
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
float dx = raw[X_AXIS] - (X_TILT_FULCRUM),
- dy = raw[Y_AXIS] - (Y_TILT_FULCRUM),
- dz = raw[Z_AXIS];
+ dy = raw[Y_AXIS] - (Y_TILT_FULCRUM);
- apply_rotation_xyz(inverse, dx, dy, dz);
+ apply_rotation_xyz(inverse, dx, dy, raw[Z_AXIS]);
raw[X_AXIS] = dx + X_TILT_FULCRUM;
raw[Y_AXIS] = dy + Y_TILT_FULCRUM;
- raw[Z_AXIS] = dz;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 1e709212834fe4e4f200193146f7cd93a1ef3590..db9d8efc5285fbb851615076cf41d672ae71cdcf 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -144,7 +144,7 @@ class Planner {
static uint8_t last_extruder; // Respond to extruder change
#endif
- static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
+ static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
static float e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement
filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
@@ -167,7 +167,7 @@ class Planner {
min_travel_feedrate_mm_s;
#if HAS_LEVELING
- static bool leveling_active; // Flag that bed leveling is enabled
+ static bool leveling_active; // Flag that bed leveling is enabled
#if ABL_PLANAR
static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
#endif
@@ -342,12 +342,12 @@ class Planner {
/**
* Planner::_buffer_line
*
- * Add a new direct linear movement to the buffer.
+ * Add a new linear movement to the buffer in axis units.
*
- * Leveling and kinematics should be applied ahead of this.
+ * Leveling and kinematics should be applied ahead of calling this.
*
- * a,b,c,e - target position in mm or degrees
- * fr_mm_s - (target) speed of the move (mm/s)
+ * a,b,c,e - target positions in mm and/or degrees
+ * fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
@@ -444,7 +444,7 @@ class Planner {
if (blocks_queued()) {
block_t* block = &block_buffer[block_buffer_tail];
#if ENABLED(ULTRA_LCD)
- block_buffer_runtime_us -= block->segment_time_us; //We can't be sure how long an active block will take, so don't count it.
+ block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
#endif
SBI(block->flag, BLOCK_BIT_BUSY);
return block;