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commit 2cfd3ba Author: Zeanon <[email protected]> Date: Tue Aug 13 12:41:57 2024 +0200 Update Config_Reference.md commit 6d1621b Author: Zeanon <[email protected]> Date: Tue Aug 13 12:35:55 2024 +0200 . commit 8604a7e Merge: a10afa9 8bff020 Author: Zeanon <[email protected]> Date: Tue Aug 13 12:32:05 2024 +0200 Merge remote-tracking branch 'upstream/master' into upstream_test commit 8bff020 Author: Rogerio Goncalves <[email protected]> Date: Mon Aug 12 21:29:36 2024 +0100 bugfix/z_tilt: check if retry_result is a number before converting commit 354c759 Author: Rogerio Goncalves <[email protected]> Date: Mon Aug 12 19:57:01 2024 +0100 bugfix/z_tilt: check if retry_result is a number before converting commit 4be4acd Author: Bea Nance <[email protected]> Date: Wed Jul 17 11:40:03 2024 -0400 lift after done commit 80c9089 Author: Bea <[email protected]> Date: Thu Jul 11 13:53:33 2024 -0400 add adaptive option for horizontal z move commit 08a9eed Author: Rogerio Goncalves <[email protected]> Date: Wed Jul 10 23:21:22 2024 +0100 control_mpc: docs and testing commit 084994b Author: Lasse Dalegaard <[email protected]> Date: Mon Jul 8 19:30:04 2024 +0200 control_mpc: add MPC control law commit ede5a2d Author: Yancey Arrington <[email protected]> Date: Sat Jul 20 21:26:35 2024 +1200 Update min ambient change units Change units on min ambient from C to C/s. commit 9db91fe Author: Yancey Arrington <[email protected]> Date: Sat Jul 13 23:26:07 2024 +1200 Doc mpc update july (KalicoCrew#6) Update with missing parameters and improve section flow. commit 668dfd4 Author: Yancey Arrington <[email protected]> Date: Fri Jul 12 11:15:58 2024 +1200 Merge MPC doc update and re-format (KalicoCrew#5) * Create homing_sensorless.md outline basics * Update homing_sensorless.md First pass brain dump * Update homing_sensorless.md * CleanUp For Review and Feedback Initial cleanup for review and feedback. * Minor update * Remove bed references and add TODO Remove bed references as no supported now and add TODO. * Misc changes * nightly check in add PTC chart, experimental bed, and temp wait macro sections. * Reformat everything Big reformat to make everything consistant. * fix markdown formating FML, markdown format fixes * Final touches for PR Grammar, typos, formatting fixes for PR * Delete docs/homing_sensorless.md How did this get in here. WTF
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diff --git a/README.md b/README.md
@@ -26,15 +26,17 @@ See the [Danger Features document](https://dangerklipper.io/Danger_Features.html
 
 - [fan: reverse FAN](https://github.com/DangerKlippers/danger-klipper/pull/51) ([klipper#4983](https://github.com/Klipper3d/klipper/pull/4983))
 
-- [heater: modify PID without reload](https://github.com/DangerKlippers/danger-klipper/pull/35)
+- [heaters: modify PID without reload](https://github.com/DangerKlippers/danger-klipper/pull/35)
 
-- [heater: velocity PID](https://github.com/DangerKlippers/danger-klipper/pull/47) ([klipper#6272](https://github.com/Klipper3d/klipper/pull/6272))
+- [heaters: MPC temperature control](https://github.com/DangerKlippers/danger-klipper/pull/333)
 
-- [heater: PID-Profiles](https://github.com/DangerKlippers/danger-klipper/pull/162)
+- [heaters: velocity PID](https://github.com/DangerKlippers/danger-klipper/pull/47) ([klipper#6272](https://github.com/Klipper3d/klipper/pull/6272))
 
-- [heater: expose heater thermistor out of min/max](https://github.com/DangerKlippers/danger-klipper/pull/182)
+- [heaters: PID-Profiles](https://github.com/DangerKlippers/danger-klipper/pull/162)
 
-- [heater/fan: new heated_fan module](https://github.com/DangerKlippers/danger-klipper/pull/259)
+- [heaters: expose heater thermistor out of min/max](https://github.com/DangerKlippers/danger-klipper/pull/182)
+
+- [heaters/fan: new heated_fan module](https://github.com/DangerKlippers/danger-klipper/pull/259)
 
 - [gcode: jinja2.ext.do extension](https://github.com/DangerKlippers/danger-klipper/pull/26) ([klipper#5149](https://github.com/Klipper3d/klipper/pull/5149))
 
@@ -116,11 +118,11 @@ See the [Danger Features document](https://dangerklipper.io/Danger_Features.html
 
 - [mcu: support for AT32F403](https://github.com/DangerKlippers/danger-klipper/pull/284)
 
+- [z_tilt, quad_gantry_level: adaptive horizontal move z](https://github.com/DangerKlippers/danger-klipper/pull/336)
+
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge-v2 branch [feature documentation](docs/Bleeding_Edge.md)
 and [feature configuration reference](docs/Config_Reference_Bleeding_Edge.md):
 
-- [heaters: mpc temperature control](https://github.com/DangerKlippers/danger-klipper/pull/268)
-
 - [extruder/pa: do not smooth base extruder position, only advance](https://github.com/DangerKlippers/danger-klipper/pull/266)
 
 - [core: non-critical-mcus](https://github.com/DangerKlippers/danger-klipper/pull/265)

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
@@ -94,11 +94,10 @@ A collection of DangerKlipper-specific system options
 #   Tolerance (in mm) for distance moved in the second homing. Ensures the
 #   second homing distance closely matches the `min_home_dist` when using
 #   sensorless homing. The default is 0.5mm.
-#temp_ignore_limits: False
-#   When set to true, this parameter ignores the min_value and max_value
-#   limits for temperature sensors. It prevents shutdowns due to
-#   'ADC out of range' and similar errors by allowing readings outside the
-#   specified range without triggering a shutdown. The default is False.
+#temp_ignore_limits:
+#   A list of temperature sensors which min and max temps should be ignored.
+#   This feature prevents shutdowns due to 'ADC out of range' and similar errors
+#   and thus should be used with extreme caution.
 #autosave_includes: False
 #   When set to true, SAVE_CONFIG will recursively read [include ...] blocks
 #   for conflicts to autosave data. Any configurations updated will be backed
@@ -935,7 +934,8 @@ The extruder section is used to describe the heater parameters for the
 nozzle hotend along with the stepper controlling the extruder. See the
 [command reference](G-Codes.md#extruder) for additional information.
 See the [pressure advance guide](Pressure_Advance.md) for information
-on tuning pressure advance.
+on tuning pressure advance. See [PID](PID.md) or [MPC](MPC.md) for more
+detailed information about the control methods.
 
 ```
 [extruder]
@@ -1022,12 +1022,14 @@ sensor_pin:
 #   be smoothed to reduce the impact of measurement noise. The default
 #   is 1 seconds.
 control:
-#   Control algorithm (either pid, pid_v or watermark). This parameter must
-#   be provided. pid_v should only be used on well calibrated heaters with
-#   low to moderate noise.
-pid_Kp:
-pid_Ki:
-pid_Kd:
+#   Control algorithm (either pid, pid_v, pid_p, watermark or mpc). This
+#   parameter must be provided. pid_v should only be used on well calibrated
+#   heaters with low to moderate noise.
+#
+#   If control: pid, pid_v or pid_p
+#pid_Kp:
+#pid_Ki:
+#pid_Kd:
 #   The proportional (pid_Kp), integral (pid_Ki), and derivative
 #   (pid_Kd) settings for the PID feedback control system. Klipper
 #   evaluates the PID settings with the following general formula:
@@ -1037,11 +1039,23 @@ pid_Kd:
 #   off and 1.0 being full on. Consider using the PID_CALIBRATE
 #   command to obtain these parameters. The pid_Kp, pid_Ki, and pid_Kd
 #   parameters must be provided for PID heaters.
+#
+#   If control: watermark
 #max_delta: 2.0
 #   On 'watermark' controlled heaters this is the number of degrees in
 #   Celsius above the target temperature before disabling the heater
 #   as well as the number of degrees below the target before
 #   re-enabling the heater. The default is 2 degrees Celsius.
+#
+#   If control: mpc
+#   See MPC.md for details about these parameters.
+#heater_power:
+#cooling_fan:
+#ambient_temp_sensor:
+#filament_diameter: 1.75
+#filament_density: 1.2
+#filament_heat_capacity: 1.8
+#
 #pwm_cycle_time: 0.100
 #   Time in seconds for each software PWM cycle of the heater. It is
 #   not recommended to set this unless there is an electrical

diff --git a/docs/Danger_Features.md b/docs/Danger_Features.md
@@ -32,9 +32,9 @@
 - [`[z_calibration]`](./Config_Reference.md#⚠️-z_calibration) enables automatic probe Z offset calibration using a reference endstop like the Voron 2.4 nozzle endstop.
 - [`[z_tilt_ng]`](./Config_Reference.md#z_tilt_ng) adds enforced 3-point z tilt calibration
 - [`[z_tilt/quad_gantry_level] increasing_threshold`](./Config_Reference.md#z_tilt) allows you to customize the allowed variation when probing multiple times
-
+- [`[z_tilt/quad_gantry_level] adaptive_horizontal_move_z`](./Config_Reference.md#z_tilt) adaptively decrease horizontal_move_z based on resulting error - z_tilt and QGL faster and safer!
 ## Heaters, Fans, and PID changes
-
+- [Model Predictive Control](./MPC.md) is an advanced temperature control method that offers an alternative to traditional PID control.
 - [Velocity PID](./PID.md) can be more accurate than positional PID, but is more susceptible to noisy sensors and may require larger smoothing times
 - [`PID_PROFILE [LOAD/SAVE]`](./G-Codes.md#pid_profile) 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=`](./G-Codes.md#set_heater_pid) can update your PID parameters without a reload.