I have a few additional comments here.
In order for the general community to spend time to absorb these changes, several things need to happen.
- There needs to be a general consensus that there is a deficiency in the current Firmware/GC implementation that needs to be addressed. To me, this is the presence of a ~4 mm vertical offset on parts of the machine surface that is not captured in the kinematics calculations. This (Holey Triangular Calibration) plots this vertical offset. This (List of sources of error) is an analysis which attempts quantify many sources of error.
- There needs to be a general agreement that the Standard Triangular Calibration is substantially limiting the accuracy of the machine, which limits applications to those which do not require accuracy. I tried the Standard Triangular Calibration, and I ended up with benchmark errors up to 6 mm. The Standard Triangular Calibration produces machine parameters which are not consistent, or aligned with physical measurements, e.g. Rotational Radius varies between 120 and 145 mm. There are several threads which are a result of people having issues with the calibration (What must be adjusted to correct out of round circles, Fully Calibrated but Oblong Circles, Oval Shaped circles Please help, Cut Sinking in the Middle). I have looked at the Standard Triangular Calibration code, and I believe it is the source of many of these problems.
These are problems that need to be addressed. This is one step in the direction of solving them.