UBL_DELTA => UBL_SEGMENTED

.travis.yml

@@ -79,13 +79,14 @@ script:
   - opt_set TEMP_SENSOR_3 20
   - opt_set TEMP_SENSOR_4 999
   - opt_set TEMP_SENSOR_BED 1
-  - opt_enable AUTO_BED_LEVELING_UBL DEBUG_LEVELING_FEATURE G26_MESH_EDITING ENABLE_LEVELING_FADE_HEIGHT EEPROM_SETTINGS EEPROM_CHITCHAT G3D_PANEL
+  - opt_enable AUTO_BED_LEVELING_UBL DEBUG_LEVELING_FEATURE G26_MESH_EDITING ENABLE_LEVELING_FADE_HEIGHT EEPROM_SETTINGS EEPROM_CHITCHAT G3D_PANEL SKEW_CORRECTION
   - opt_enable_adv CUSTOM_USER_MENUS I2C_POSITION_ENCODERS BABYSTEPPING LIN_ADVANCE NANODLP_Z_SYNC
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
   #
-  # And with a Sled Z Probe
+  # Add a Sled Z Probe, do non-segmented moves
   #
   - opt_enable Z_PROBE_SLED
+  - opt_disable SEGMENT_LEVELED_MOVES
   - opt_enable_adv BABYSTEP_ZPROBE_OFFSET DOUBLECLICK_FOR_Z_BABYSTEPPING
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
   #

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -458,15 +458,7 @@
     set_current_from_destination();
   }
 
-  #if UBL_DELTA
+  #if UBL_SEGMENTED
-
-    // macro to inline copy exactly 4 floats, don't rely on sizeof operator
-    #define COPY_XYZE( target, source ) { \
-                target[X_AXIS] = source[X_AXIS]; \
-                target[Y_AXIS] = source[Y_AXIS]; \
-                target[Z_AXIS] = source[Z_AXIS]; \
-                target[E_AXIS] = source[E_AXIS]; \
-            }
 
     #if IS_SCARA // scale the feed rate from mm/s to degrees/s
       static float scara_feed_factor, scara_oldA, scara_oldB;
@@ -675,6 +667,6 @@
       } // cell loop
     }
 
-  #endif // UBL_DELTA
+  #endif // UBL_SEGMENTED
 
 #endif // AUTO_BED_LEVELING_UBL

Marlin/src/gcode/bedlevel/G26.cpp

@@ -220,7 +220,7 @@ mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
 void G26_line_to_destination(const float &feed_rate) {
   const float save_feedrate = feedrate_mm_s;
   feedrate_mm_s = feed_rate;      // use specified feed rate
-  prepare_move_to_destination();  // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
+  prepare_move_to_destination();  // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_SEGMENTED
   feedrate_mm_s = save_feedrate;  // restore global feed rate
 }
 

Marlin/src/inc/Conditionals_post.h

@@ -977,7 +977,7 @@
 /**
  * Set granular options based on the specific type of leveling
  */
-#define UBL_DELTA  (ENABLED(AUTO_BED_LEVELING_UBL) && (ENABLED(DELTA) || ENABLED(SEGMENT_LEVELED_MOVES)))
+#define UBL_SEGMENTED  (ENABLED(AUTO_BED_LEVELING_UBL) && (ENABLED(DELTA) || ENABLED(SEGMENT_LEVELED_MOVES)))
 #define ABL_PLANAR     (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT))
 #define ABL_GRID       (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR))
 #define OLDSCHOOL_ABL  (ABL_PLANAR || ABL_GRID)
@@ -985,7 +985,7 @@
 #define HAS_LEVELING   (HAS_ABL || ENABLED(MESH_BED_LEVELING))
 #define HAS_AUTOLEVEL  (HAS_ABL && DISABLED(PROBE_MANUALLY))
 #define HAS_MESH       (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING))
-#define PLANNER_LEVELING      (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_DELTA)
+#define PLANNER_LEVELING      (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING))
 #define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
 #if HAS_PROBING_PROCEDURE
   #define PROBE_BED_WIDTH abs(RIGHT_PROBE_BED_POSITION - (LEFT_PROBE_BED_POSITION))

Marlin/src/inc/SanityCheck.h

@@ -603,7 +603,7 @@ static_assert(1 >= 0
     #error "Delta probably shouldn't use Z_MIN_PROBE_ENDSTOP. Comment out this line to continue."
   #elif DISABLED(USE_XMAX_PLUG) && DISABLED(USE_YMAX_PLUG) && DISABLED(USE_ZMAX_PLUG)
     #error "You probably want to use Max Endstops for DELTA!"
-  #elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_BILINEAR) && !UBL_DELTA
+  #elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_BILINEAR) && !UBL_SEGMENTED
     #error "ENABLE_LEVELING_FADE_HEIGHT on DELTA requires AUTO_BED_LEVELING_BILINEAR or AUTO_BED_LEVELING_UBL."
   #elif ENABLED(DELTA_AUTO_CALIBRATION) && !(HAS_BED_PROBE || ENABLED(ULTIPANEL))
     #error "DELTA_AUTO_CALIBRATION requires a probe or LCD Controller."
@@ -1497,9 +1497,6 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
 #endif
 
 #if ENABLED(SKEW_CORRECTION)
-  #if ENABLED(AUTO_BED_LEVELING_UBL) && !ENABLED(SEGMENT_LEVELED_MOVES)
-    #error "SKEW_CORRECTION with AUTO_BED_LEVELING_UBL requires SEGMENT_LEVELED_MOVES."
-  #endif
   #if !defined(XY_SKEW_FACTOR) && !(defined(XY_DIAG_AC) && defined(XY_DIAG_BD) && defined(XY_SIDE_AD))
     #error "SKEW_CORRECTION requires XY_SKEW_FACTOR or XY_DIAG_AC, XY_DIAG_BD, XY_SIDE_AD."
   #endif

Marlin/src/module/motion.cpp

@@ -264,7 +264,7 @@ void buffer_line_to_destination(const float fr_mm_s) {
 
     gcode.refresh_cmd_timeout();
 
-    #if UBL_DELTA
+    #if UBL_SEGMENTED
       // ubl segmented line will do z-only moves in single segment
       ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
     #else
@@ -495,7 +495,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
 
 #endif
 
-#if !UBL_DELTA
+#if !UBL_SEGMENTED
 #if IS_KINEMATIC
 
   #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
@@ -762,7 +762,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
   }
 
 #endif // !IS_KINEMATIC
-#endif // !UBL_DELTA
+#endif // !UBL_SEGMENTED
 
 #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
   bool extruder_duplication_enabled = false;                              // Used in Dual X mode 2
@@ -907,7 +907,7 @@ void prepare_move_to_destination() {
   #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
 
   if (
-    #if UBL_DELTA // Also works for CARTESIAN (smaller segments follow mesh more closely)
+    #if UBL_SEGMENTED
       ubl.prepare_segmented_line_to(destination, MMS_SCALED(feedrate_mm_s))
     #elif IS_KINEMATIC
       prepare_kinematic_move_to(destination)

Marlin/src/module/planner.cpp

@@ -616,7 +616,7 @@ void Planner::calculate_volumetric_multipliers() {
       #endif
 
       rz += (
-        #if ENABLED(AUTO_BED_LEVELING_UBL) // UBL_DELTA
+        #if ENABLED(AUTO_BED_LEVELING_UBL)
           ubl.get_z_correction(rx, ry) * fade_scaling_factor
         #elif ENABLED(MESH_BED_LEVELING)
           mbl.get_z(rx, ry