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feat: adds basic axis_twist_compensation support #1838

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Merged
pedrolamas merged 2 commits into from
May 12, 2026
Merged

feat: adds basic axis_twist_compensation support #1838

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672c88a
feat: adds basic axis_twist_compensation support
pedrolamas May 12, 2026
d973872
fix: removes deprecated cartographer scanner check
pedrolamas May 12, 2026
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32 changes: 27 additions & 5 deletions src/components/widgets/toolhead/ToolheadCard.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -224,16 +224,15 @@ export default class ToolheadCard extends Mixins(StateMixin, ToolheadMixin) {
this.printerSettings.bltouch != null ||
this.printerSettings.smart_effector != null ||
this.printerSettings.cartographer != null ||
(
this.printerSettings.scanner != null &&
'sensor' in this.printerSettings.scanner &&
this.printerSettings.scanner.sensor === 'cartographer'
) ||
Object.keys(this.printerSettings)
.some(x => x.startsWith('probe_eddy_current '))
)
}

get printerSupportsAxisTwistCompensationCalibrate (): boolean {
return this.printerSettings.axis_twist_compensation != null
}

get printerSupportsBeaconCalibrate (): boolean {
return this.printerSettings.beacon != null
}
Expand All @@ -242,6 +241,13 @@ export default class ToolheadCard extends Mixins(StateMixin, ToolheadMixin) {
return this.printerSettings.cartographer != null
}

get printerSupportsCartographerAxisTwistCompensation (): boolean {
return (
this.printerSettings.cartographer != null &&
this.printerSettings.axis_twist_compensation != null
)
Comment on lines +244 to +248

@thijstriemstra thijstriemstra May 12, 2026

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The [scanner] section is part of the old cartographer code and is deprecated and should be removed as noted here: https://docs.cartographer3d.com/cartographer-probe/installation-and-setup/software-configuration/klipper-setup

@pedrolamas pedrolamas May 12, 2026

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Agreed.

@pedrolamas pedrolamas May 12, 2026

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Old cartographer scanner check removed in d973872.

}

get printerSupportsZEndstopCalibrate (): boolean {
return (
this.printerSettings.stepper_z?.position_endstop != null
Expand Down Expand Up @@ -338,6 +344,14 @@ export default class ToolheadCard extends Mixins(StateMixin, ToolheadMixin) {
})
}

if (this.printerSupportsAxisTwistCompensationCalibrate) {
tools.push({
name: 'AXIS_TWIST_COMPENSATION_CALIBRATE',
disabled: !this.allHomed || this.isManualProbeActive,
wait: this.$waits.onAxisTwistCompensationCalibrate
})
}

if (this.printerSupportsBeaconCalibrate) {
tools.push({
name: 'BEACON_AUTO_CALIBRATE',
Expand Down Expand Up @@ -376,6 +390,14 @@ export default class ToolheadCard extends Mixins(StateMixin, ToolheadMixin) {
})
}

if (this.printerSupportsCartographerAxisTwistCompensation) {
tools.push({
name: 'CARTOGRAPHER_AXIS_TWIST_COMPENSATION',
disabled: !this.allHomed || this.isManualProbeActive,
wait: this.$waits.onCartographerAxisTwistCompensation
})
}

if (this.printerSupportsDeltaCalibrate) {
tools.push({
name: 'DELTA_CALIBRATE',
Expand Down
2 changes: 2 additions & 0 deletions src/globals.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -577,6 +577,7 @@ export const Waits = Object.freeze({
onHomeZ: 'onHomeZ',
onQGL: 'onQGL',
onZTilt: 'onZTilt',
onAxisTwistCompensationCalibrate: 'onAxisTwistCompensationCalibrate',
onBedScrewsAdjust: 'onBedScrewAdjust',
onDatabaseList: 'onDatabaseList',
onDatabaseCompact: 'onDatabaseCompact',
Expand All @@ -585,6 +586,7 @@ export const Waits = Object.freeze({
onDatabaseDeleteBackup: 'onDatabaseDeleteBackup',
onBedScrewsCalculate: 'onBedScrewsCalculate',
onBedTiltCalibrate: 'onBedTiltCalibrate',
onCartographerAxisTwistCompensation: 'onCartographerAxisTwistCompensation',
onCartographerScanCalibrate: 'onCartographerScanCalibrate',
onCartographerTouchCalibrate: 'onCartographerTouchCalibrate',
onDeltaCalibrate: 'onDeltaCalibrate',
Expand Down
15 changes: 15 additions & 0 deletions src/typings/klipper.d.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -880,6 +880,8 @@ declare namespace Klipper {

[key: `temperature_probe ${Lowercase<string>}`]: TemperatureProbeSettings;

axis_twist_compensation: AxisTwistCompensationSettings;

safe_z_home: SafeZHomeSettings;

z_tilt: ZTiltSettings;
Expand Down Expand Up @@ -1163,6 +1165,19 @@ declare namespace Klipper {
smooth_time: number;
}

export interface AxisTwistCompensationSettings {
horizontal_move_z: number;
speed: number;
z_compensations: number[];
zy_compensations: number[];
calibrate_start_x?: number;
calibrate_end_x?: number;
calibrate_y?: number;
calibrate_start_y?: number;
calibrate_end_y?: number;
calibrate_x?: number;
}

export interface SafeZHomeSettings {
home_xy_position: [number, number]
z_hop: number;
Expand Down