Though this was addressed to @bar, I’ll chime in. If the firmware is based upon @ldocull’s GRBL port (which I believe is the case) and there’s been no update to it (which I also believe is the case), it’s a pretty simplistic kinematics model. I’ve not seen any comparison between the current kinematics model and the one in the GRBL port to really know which way is beter… you have to test them to truly know. My experience tells me that the current model is more accurate than the GRBL model, but I’m always cognizant of perhaps having a “bias blind spot” because I may believe a particular way is correct.
Regardless, there’s no reason the current model couldn’t be integrated into the GRBL port. You would just need a program to calculate the calibration values from measurements. And if that’s done, my gut feel is that a GRBL-based firmware, with the current kinematics model, would perform better than the current firmware since it manages acceleration better.