✨ X Twist Compensation & Calibration (#23238)

Marlin/Configuration_adv.h

@@ -1270,6 +1270,22 @@
       // Set a convenient position to do the calibration (probing point and nozzle/bed-distance)
       //#define PROBE_OFFSET_WIZARD_XY_POS { X_CENTER, Y_CENTER }
     #endif
+
+    #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+      // Add a calibration procedure in the Probe Offsets menu
+      // to compensate for twist in the X-axis.
+      //#define X_AXIS_TWIST_COMPENSATION
+      #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+        /**
+         * Enable to init the Probe Z-Offset when starting the Wizard.
+         * Use a height slightly above the estimated nozzle-to-probe Z offset.
+         * For example, with an offset of -5, consider a starting height of -4.
+         */
+        #define XATC_START_Z 0.0
+        #define XATC_MAX_POINTS 3             // Number of points to probe in the wizard
+        #define XATC_Y_POSITION Y_CENTER      // (mm) Y position to probe
+      #endif
+    #endif
   #endif
 
   // Include a page of printer information in the LCD Main Menu

Marlin/src/feature/bedlevel/abl/x_twist.cpp

@@ -0,0 +1,59 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+
+#include "../bedlevel.h"
+
+XATC xatc;
+
+float XATC::spacing, XATC::start;
+xatc_points_t XATC::z_values;
+
+void XATC::print_points() {
+  SERIAL_ECHOLNPGM(" X-Twist Correction:");
+  LOOP_L_N(x, XATC_MAX_POINTS) {
+    SERIAL_CHAR(' ');
+    if (!isnan(z_values[x])) {
+      if (z_values[x] >= 0) SERIAL_CHAR('+');
+      SERIAL_ECHO_F(z_values[x], 3);
+    }
+    else {
+      LOOP_L_N(i, 6)
+        SERIAL_CHAR(i ? '=' : ' ');
+    }
+  }
+  SERIAL_EOL();
+}
+
+float lerp(const_float_t t, const_float_t a, const_float_t b) { return a + t * (b - a); }
+
+float XATC::compensation(const xy_pos_t &raw) {
+  float t = (raw.x - start) / spacing;
+  int i = FLOOR(t);
+  LIMIT(i, 0, XATC_MAX_POINTS - 2);
+  t -= i;
+  return lerp(t, z_values[i], z_values[i + 1]);
+}
+
+#endif // X_AXIS_TWIST_COMPENSATION

Marlin/src/feature/bedlevel/abl/x_twist.h

@@ -0,0 +1,37 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../../inc/MarlinConfigPre.h"
+
+typedef float xatc_points_t[XATC_MAX_POINTS];
+
+class XATC {
+public:
+  static float spacing, start;
+  static xatc_points_t z_values;
+
+  static float compensation(const xy_pos_t &raw);
+  static void print_points();
+};
+
+extern XATC xatc;

Marlin/src/feature/bedlevel/bedlevel.h

@@ -63,6 +63,9 @@ class TemporaryBedLevelingState {
 
   #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
     #include "abl/abl.h"
+    #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+      #include "abl/x_twist.h"
+    #endif
   #elif ENABLED(AUTO_BED_LEVELING_UBL)
     #include "ubl/ubl.h"
   #elif ENABLED(MESH_BED_LEVELING)

Marlin/src/gcode/bedlevel/abl/G29.cpp

@@ -662,7 +662,7 @@ G29_TYPE GcodeSuite::G29() {
           #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
             const float z = abl.measured_z + abl.Z_offset;
-            z_values[abl.meshCount.x][abl.meshCount.y] = z;
+            z_values[abl.meshCount.x][abl.meshCount.y] = z PLUS_TERN0(X_AXIS_TWIST_COMPENSATION, xatc.compensation(abl.probePos));
             TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, z));
 
           #endif

Marlin/src/inc/SanityCheck.h

@@ -3393,6 +3393,10 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
   #endif
 #endif
 
+#if BOTH(X_AXIS_TWIST_COMPENSATION, NOZZLE_AS_PROBE)
+  #error "X_AXIS_TWIST_COMPENSATION is incompatible with NOZZLE_AS_PROBE."
+#endif
+
 #if ENABLED(POWER_LOSS_RECOVERY)
   #if ENABLED(BACKUP_POWER_SUPPLY) && !PIN_EXISTS(POWER_LOSS)
     #error "BACKUP_POWER_SUPPLY requires a POWER_LOSS_PIN."

Marlin/src/lcd/language/language_en.h

@@ -734,6 +734,10 @@ namespace Language_en {
   LSTR MSG_PROBE_WIZARD_PROBING           = _UxGT("Probing Z Reference");
   LSTR MSG_PROBE_WIZARD_MOVING            = _UxGT("Moving to Probing Pos");
 
+  LSTR MSG_XATC                           = _UxGT("X-Twist Wizard");
+  LSTR MSG_XATC_DONE                      = _UxGT("X-Twist Wizard Done!");
+  LSTR MSG_XATC_UPDATE_Z_OFFSET           = _UxGT("Update Probe Z-Offset to ");
+
   LSTR MSG_SOUND                          = _UxGT("Sound");
 
   LSTR MSG_TOP_LEFT                       = _UxGT("Top Left");

Marlin/src/lcd/marlinui.h

@@ -640,7 +640,7 @@ public:
   //
   // Special handling if a move is underway
   //
-  #if ANY(DELTA_CALIBRATION_MENU, DELTA_AUTO_CALIBRATION, PROBE_OFFSET_WIZARD) || (ENABLED(LCD_BED_LEVELING) && EITHER(PROBE_MANUALLY, MESH_BED_LEVELING))
+  #if ANY(DELTA_CALIBRATION_MENU, DELTA_AUTO_CALIBRATION, PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION) || (ENABLED(LCD_BED_LEVELING) && EITHER(PROBE_MANUALLY, MESH_BED_LEVELING))
     #define LCD_HAS_WAIT_FOR_MOVE 1
     static bool wait_for_move;
   #else

Marlin/src/lcd/menu/menu.cpp

@@ -38,7 +38,7 @@
   #include "../../module/probe.h"
 #endif
 
-#if EITHER(ENABLE_LEVELING_FADE_HEIGHT, AUTO_BED_LEVELING_UBL)
+#if HAS_LEVELING
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
 
@@ -46,6 +46,13 @@
 ///////////// Global Variables /////////////
 ////////////////////////////////////////////
 
+#if HAS_LEVELING && ANY(LEVEL_BED_CORNERS, PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
+  bool leveling_was_active; // = false
+#endif
+#if ANY(PROBE_MANUALLY, MESH_BED_LEVELING, X_AXIS_TWIST_COMPENSATION)
+  uint8_t manual_probe_index; // = 0
+#endif
+
 // Menu Navigation
 int8_t encoderTopLine, encoderLine, screen_items;
 

Marlin/src/lcd/menu/menu.h

@@ -218,6 +218,11 @@ void _lcd_draw_homing();
   void goto_probe_offset_wizard();
 #endif
 
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+  void xatc_wizard_continue();
+  void menu_advanced_settings();
+#endif
+
 #if ENABLED(LCD_BED_LEVELING) || (HAS_LEVELING && DISABLED(SLIM_LCD_MENUS))
   void _lcd_toggle_bed_leveling();
 #endif
@@ -249,3 +254,11 @@ extern uint8_t screen_history_depth;
 inline void clear_menu_history() { screen_history_depth = 0; }
 
 #define STICKY_SCREEN(S) []{ ui.defer_status_screen(); ui.goto_screen(S); }
+
+#if HAS_LEVELING && ANY(LEVEL_BED_CORNERS, PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
+  extern bool leveling_was_active;
+#endif
+
+#if ANY(PROBE_MANUALLY, MESH_BED_LEVELING, X_AXIS_TWIST_COMPENSATION)
+  extern uint8_t manual_probe_index;
+#endif

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -508,6 +508,10 @@ void menu_backlash();
         SUBMENU(MSG_PROBE_WIZARD, goto_probe_offset_wizard);
       #endif
 
+      #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+        SUBMENU(MSG_XATC, xatc_wizard_continue);
+      #endif
+
       END_MENU();
     }
   #endif

Marlin/src/lcd/menu/menu_bed_corners.cpp

@@ -66,10 +66,6 @@
 
 static_assert(LEVEL_CORNERS_Z_HOP >= 0, "LEVEL_CORNERS_Z_HOP must be >= 0. Please update your configuration.");
 
-#if HAS_LEVELING
-  static bool leveling_was_active = false;
-#endif
-
 #ifndef LEVEL_CORNERS_LEVELING_ORDER
   #define LEVEL_CORNERS_LEVELING_ORDER { LF, RF, LB, RB } // Default
   //#define LEVEL_CORNERS_LEVELING_ORDER { LF, LB, RF  }  // 3 hard-coded points

Marlin/src/lcd/menu/menu_bed_leveling.cpp

@@ -52,8 +52,6 @@
   // Motion > Level Bed handlers
   //
 
-  static uint8_t manual_probe_index;
-
   // LCD probed points are from defaults
   constexpr uint8_t total_probe_points = TERN(AUTO_BED_LEVELING_3POINT, 3, GRID_MAX_POINTS);
 

Marlin/src/lcd/menu/menu_motion.cpp

@@ -134,6 +134,15 @@ void lcd_move_x() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_X), X_AXIS); }
 
 #endif // E_MANUAL
 
+#if EITHER(PROBE_OFFSET_WIZARD, X_AXIS_TWIST_COMPENSATION)
+
+  void _goto_manual_move_z(const_float_t scale) {
+    ui.manual_move.menu_scale = scale;
+    ui.goto_screen(lcd_move_z);
+  }
+
+#endif
+
 //
 // "Motion" > "Move Xmm" > "Move XYZ" submenu
 //

Marlin/src/lcd/menu/menu_probe_offset.cpp

@@ -39,13 +39,11 @@
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
 
+void _goto_manual_move_z(const_float_t);
+
 // Global storage
 float z_offset_backup, calculated_z_offset, z_offset_ref;
 
-#if HAS_LEVELING
-  bool leveling_was_active;
-#endif
-
 inline void z_clearance_move() {
   do_z_clearance(
     #ifdef Z_AFTER_HOMING
@@ -65,11 +63,6 @@ void set_offset_and_go_back(const_float_t z) {
   ui.goto_previous_screen_no_defer();
 }
 
-void _goto_manual_move_z(const_float_t scale) {
-  ui.manual_move.menu_scale = scale;
-  ui.goto_screen(lcd_move_z);
-}
-
 void probe_offset_wizard_menu() {
   START_MENU();
   calculated_z_offset = probe.offset.z + current_position.z - z_offset_ref;

Marlin/src/lcd/menu/menu_x_twist.cpp

@@ -0,0 +1,224 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+
+#include "menu_item.h"
+#include "menu_addon.h"
+#include "../../module/planner.h"
+#include "../../feature/bedlevel/bedlevel.h"
+#include "../../module/motion.h"
+#include "../../gcode/queue.h"
+#include "../../module/probe.h"
+
+#ifndef XATC_Y_POSITION
+  #define XATC_Y_POSITION ((probe.max_y() - probe.min_y())/2)
+#endif
+
+void _goto_manual_move_z(const_float_t);
+
+float measured_z, z_offset;
+
+//
+// Step 9: X Axis Twist Compensation Wizard is finished.
+//
+void xatc_wizard_done() {
+  if (!ui.wait_for_move) {
+    xatc.print_points();
+    set_bed_leveling_enabled(leveling_was_active);
+    SET_SOFT_ENDSTOP_LOOSE(false);
+    ui.goto_screen(menu_advanced_settings);
+  }
+  if (ui.should_draw())
+    MenuItem_static::draw(LCD_HEIGHT >= 4, GET_TEXT(MSG_XATC_DONE));
+  ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
+}
+
+void xatc_wizard_goto_next_point();
+
+//
+// Step 8: Ask the user if he wants to update the z-offset of the probe
+//
+void xatc_wizard_update_z_offset() {
+  MenuItem_confirm::select_screen(
+      GET_TEXT(MSG_YES), GET_TEXT(MSG_NO)
+    , []{
+        probe.offset.z = z_offset;
+        ui.goto_screen(xatc_wizard_done);
+      }
+    , xatc_wizard_done
+    , GET_TEXT(MSG_XATC_UPDATE_Z_OFFSET)
+    , ftostr42_52(z_offset), PSTR("?")
+  );
+}
+
+//
+// Step 7: Set the Z-offset for this point and go to the next one.
+//
+void xatc_wizard_set_offset_and_go_to_next_point() {
+  // Set Z-offset at probed point
+  xatc.z_values[manual_probe_index++] = probe.offset.z + current_position.z - measured_z;
+  // Go to next point
+  ui.goto_screen(xatc_wizard_goto_next_point);
+}
+
+//
+// Step 6: Wizard Menu. Move the nozzle down until it touches the bed.
+//
+void xatc_wizard_menu() {
+  START_MENU();
+  float calculated_z_offset = probe.offset.z + current_position.z - measured_z;
+
+  if (LCD_HEIGHT >= 4)
+    STATIC_ITEM(MSG_MOVE_NOZZLE_TO_BED, SS_CENTER|SS_INVERT);
+
+  STATIC_ITEM_P(PSTR("Z="), SS_CENTER, ftostr42_52(current_position.z));
+  STATIC_ITEM(MSG_ZPROBE_ZOFFSET, SS_LEFT, ftostr42_52(calculated_z_offset));
+
+  SUBMENU(MSG_MOVE_1MM,  []{ _goto_manual_move_z( 1);    });
+  SUBMENU(MSG_MOVE_01MM, []{ _goto_manual_move_z( 0.1f); });
+
+  if ((FINE_MANUAL_MOVE) > 0.0f && (FINE_MANUAL_MOVE) < 0.1f) {
+    char tmp[20], numstr[10];
+    // Determine digits needed right of decimal
+    const uint8_t digs = !UNEAR_ZERO((FINE_MANUAL_MOVE) * 1000 - int((FINE_MANUAL_MOVE) * 1000)) ? 4 :
+                         !UNEAR_ZERO((FINE_MANUAL_MOVE) *  100 - int((FINE_MANUAL_MOVE) *  100)) ? 3 : 2;
+    sprintf_P(tmp, GET_TEXT(MSG_MOVE_N_MM), dtostrf(FINE_MANUAL_MOVE, 1, digs, numstr));
+    #if DISABLED(HAS_GRAPHICAL_TFT)
+      SUBMENU_P(NUL_STR, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
+      MENU_ITEM_ADDON_START(0 + ENABLED(HAS_MARLINUI_HD44780));
+      lcd_put_u8str(tmp);
+      MENU_ITEM_ADDON_END();
+    #else
+      SUBMENU_P(tmp, []{ _goto_manual_move_z(float(FINE_MANUAL_MOVE)); });
+    #endif
+  }
+
+  ACTION_ITEM(MSG_BUTTON_DONE, xatc_wizard_set_offset_and_go_to_next_point);
+
+  END_MENU();
+}
+
+//
+// Step 5: Display "Next point: 1 / 9" while waiting for move to finish
+//
+void xatc_wizard_moving() {
+  if (ui.should_draw()) {
+    char msg[10];
+    sprintf_P(msg, PSTR("%i / %u"), manual_probe_index + 1, XATC_MAX_POINTS);
+    MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_LEVEL_BED_NEXT_POINT), msg);
+  }
+  ui.refresh(LCDVIEW_CALL_NO_REDRAW);
+  if (!ui.wait_for_move) ui.goto_screen(xatc_wizard_menu);
+}
+
+//
+// Step 4: Initiate a move to the next point
+//
+void xatc_wizard_goto_next_point() {
+  if (manual_probe_index < XATC_MAX_POINTS) {
+
+    const float x = xatc.start + manual_probe_index * xatc.spacing;
+
+    // Avoid probing outside the round or hexagonal area
+    if (!TERN0(IS_KINEMATIC, !probe.can_reach(x, XATC_Y_POSITION))) {
+      ui.wait_for_move = true;
+      ui.goto_screen(xatc_wizard_moving);
+
+      // Deploy certain probes before starting probing
+      TERN_(BLTOUCH, do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE));
+
+      measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW);
+      current_position += probe.offset_xy;
+      current_position.z = XATC_START_Z - probe.offset.z + measured_z;
+      line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE));
+      ui.wait_for_move = false;
+    }
+    else
+      manual_probe_index++; // Go to next point
+  }
+  else {
+    // Compute the z-offset by averaging the values found with this wizard
+    z_offset = 0;
+    LOOP_L_N(i, XATC_MAX_POINTS) z_offset += xatc.z_values[i];
+    z_offset /= XATC_MAX_POINTS;
+
+    // Subtract the average from the values found with this wizard.
+    // This way they are indipendent from the z-offset
+    LOOP_L_N(i, XATC_MAX_POINTS) xatc.z_values[i] -= z_offset;
+
+    ui.goto_screen(xatc_wizard_update_z_offset);
+  }
+}
+
+//
+// Step 3: Display "Click to Begin", wait for click
+//         Move to the first probe position
+//
+void xatc_wizard_homing_done() {
+  if (ui.should_draw()) {
+    MenuItem_static::draw(1, GET_TEXT(MSG_LEVEL_BED_WAITING));
+
+    // Color UI needs a control to detect a touch
+    #if BOTH(TOUCH_SCREEN, HAS_GRAPHICAL_TFT)
+      touch.add_control(CLICK, 0, 0, TFT_WIDTH, TFT_HEIGHT);
+    #endif
+  }
+
+  if (ui.use_click()) {
+    xatc.spacing = (probe.max_x() - probe.min_x()) / (XATC_MAX_POINTS - 1);
+    xatc.start = probe.min_x();
+
+    SET_SOFT_ENDSTOP_LOOSE(true); // Disable soft endstops for free Z movement
+
+    ui.goto_screen(xatc_wizard_goto_next_point);
+  }
+}
+
+//
+// Step 2: Display "Homing XYZ" - Wait for homing to finish
+//
+void xatc_wizard_homing() {
+  _lcd_draw_homing();
+  if (all_axes_homed())
+    ui.goto_screen(xatc_wizard_homing_done);
+}
+
+//
+// Step 1: Prepare for the wizard...
+//
+void xatc_wizard_continue() {
+  // Store Bed-Leveling-State and disable
+  #if HAS_LEVELING
+    leveling_was_active = planner.leveling_active;
+    set_bed_leveling_enabled(false);
+  #endif
+
+  // Home all axes
+  ui.defer_status_screen();
+  set_all_unhomed();
+  ui.goto_screen(xatc_wizard_homing);
+  queue.inject_P(G28_STR);
+}
+
+#endif // X_AXIS_TWIST_COMPENSATION

Marlin/src/module/settings.cpp

@@ -63,6 +63,9 @@
 
 #if HAS_LEVELING
   #include "../feature/bedlevel/bedlevel.h"
+  #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+    #include "../feature/bedlevel/abl/x_twist.h"
+  #endif
 #endif
 
 #if ENABLED(Z_STEPPER_AUTO_ALIGN)
@@ -250,6 +253,9 @@ typedef struct SettingsDataStruct {
   xy_pos_t bilinear_grid_spacing, bilinear_start;       // G29 L F
   #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
     bed_mesh_t z_values;                                // G29
+    #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+      XATC xatc;                                        // TBD
+    #endif
   #else
     float z_values[3][3];
   #endif
@@ -814,6 +820,12 @@ void MarlinSettings::postprocess() {
           sizeof(z_values) == (GRID_MAX_POINTS) * sizeof(z_values[0][0]),
           "Bilinear Z array is the wrong size."
         );
+        #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+          static_assert(
+            sizeof(xatc.z_values) == (XATC_MAX_POINTS) * sizeof(xatc.z_values[0]),
+            "Z-offset mesh is the wrong size."
+          );
+        #endif
       #else
         const xy_pos_t bilinear_start{0}, bilinear_grid_spacing{0};
       #endif
@@ -827,6 +839,9 @@ void MarlinSettings::postprocess() {
 
       #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
         EEPROM_WRITE(z_values);              // 9-256 floats
+        #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+          EEPROM_WRITE(xatc);
+        #endif
       #else
         dummyf = 0;
         for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_WRITE(dummyf);
@@ -1691,6 +1706,9 @@ void MarlinSettings::postprocess() {
             EEPROM_READ(bilinear_grid_spacing);        // 2 ints
             EEPROM_READ(bilinear_start);               // 2 ints
             EEPROM_READ(z_values);                     // 9 to 256 floats
+            #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+              EEPROM_READ(xatc);
+            #endif
           }
           else // EEPROM data is stale
         #endif // AUTO_BED_LEVELING_BILINEAR
@@ -3198,6 +3216,12 @@ void MarlinSettings::reset() {
           }
         }
 
+        // TODO: Create G-code for settings
+        //#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+        //  CONFIG_ECHO_START();
+        //  xatc.print_points();
+        //#endif
+
       #endif
 
     #endif // HAS_LEVELING

buildroot/tests/rambo

@@ -91,7 +91,7 @@ opt_set MOTHERBOARD BOARD_MINIRAMBO \
         I2C_SLAVE_ADDRESS 63
 opt_enable EEPROM_SETTINGS EEPROM_CHITCHAT REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER \
           SDSUPPORT PCA9632 SOUND_MENU_ITEM GCODE_REPEAT_MARKERS \
-          AUTO_BED_LEVELING_BILINEAR PROBE_MANUALLY LCD_BED_LEVELING G26_MESH_VALIDATION MESH_EDIT_MENU \
+          AUTO_BED_LEVELING_LINEAR PROBE_MANUALLY LCD_BED_LEVELING \
           LIN_ADVANCE EXTRA_LIN_ADVANCE_K \
           INCH_MODE_SUPPORT TEMPERATURE_UNITS_SUPPORT EXPERIMENTAL_I2CBUS M100_FREE_MEMORY_WATCHER \
           NOZZLE_PARK_FEATURE NOZZLE_CLEAN_FEATURE \
@@ -99,7 +99,7 @@ opt_enable EEPROM_SETTINGS EEPROM_CHITCHAT REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CO
           PRINTCOUNTER SERVICE_NAME_1 SERVICE_INTERVAL_1 M114_DETAIL
 opt_add M100_FREE_MEMORY_DUMPER
 opt_add M100_FREE_MEMORY_CORRUPTOR
-exec_test $1 $2 "MINIRAMBO | RRDGFSC | ABL Bilinear Manual | M100 | PWM_MOTOR_CURRENT | M600..." "$3"
+exec_test $1 $2 "MINIRAMBO | RRDGFSC | ABL Linear Manual | M100 | PWM_MOTOR_CURRENT | M600..." "$3"
 
 #
 # Test many less common options
@@ -118,7 +118,8 @@ opt_enable COREYX USE_XMAX_PLUG MIXING_EXTRUDER GRADIENT_MIX \
            BABYSTEPPING BABYSTEP_DISPLAY_TOTAL FILAMENT_LCD_DISPLAY FILAMENT_WIDTH_SENSOR \
            REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER MENU_ADDAUTOSTART SDSUPPORT SDCARD_SORT_ALPHA \
            ENDSTOP_NOISE_THRESHOLD FAN_SOFT_PWM \
-           FIX_MOUNTED_PROBE PROBING_ESTEPPERS_OFF AUTO_BED_LEVELING_LINEAR DEBUG_LEVELING_FEATURE PROBE_OFFSET_WIZARD \
+           FIX_MOUNTED_PROBE PROBING_ESTEPPERS_OFF PROBE_OFFSET_WIZARD \
+           AUTO_BED_LEVELING_BILINEAR X_AXIS_TWIST_COMPENSATION MESH_EDIT_MENU DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION \
            Z_SAFE_HOMING SHOW_TEMP_ADC_VALUES HOME_Y_BEFORE_X EMERGENCY_PARSER \
            SD_ABORT_ON_ENDSTOP_HIT HOST_ACTION_COMMANDS HOST_PROMPT_SUPPORT HOST_PAUSE_M76 ADVANCED_OK M114_DETAIL \
            VOLUMETRIC_DEFAULT_ON NO_WORKSPACE_OFFSETS EXTRA_FAN_SPEED FWRETRACT \

ini/features.ini

@@ -97,6 +97,7 @@ USB_FLASH_DRIVE_SUPPORT                = src_filter=+<src/sd/usb_flashdrive/Sd2C
 HAS_MCP3426_ADC                        = src_filter=+<src/feature/adc> +<src/gcode/feature/adc>
 AUTO_BED_LEVELING_BILINEAR             = src_filter=+<src/feature/bedlevel/abl>
 AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+<src/gcode/bedlevel/abl>
+X_AXIS_TWIST_COMPENSATION              = src_filter=+<src/feature/bedlevel/abl/x_twist.cpp> +<src/lcd/menu/menu_x_twist.cpp>
 MESH_BED_LEVELING                      = src_filter=+<src/feature/bedlevel/mbl> +<src/gcode/bedlevel/mbl>
 AUTO_BED_LEVELING_UBL                  = src_filter=+<src/feature/bedlevel/ubl> +<src/gcode/bedlevel/ubl>
 UBL_HILBERT_CURVE                      = src_filter=+<src/feature/bedlevel/hilbert_curve.cpp>

platformio.ini

@@ -74,6 +74,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
   -<src/lcd/menu/menu_touch_screen.cpp>
   -<src/lcd/menu/menu_tramming.cpp>
   -<src/lcd/menu/menu_ubl.cpp>
+  -<src/lcd/menu/menu_x_twist.cpp>
   -<src/lcd/extui/anycubic_chiron>
   -<src/lcd/extui/anycubic_i3mega>
   -<src/lcd/extui/dgus> -<src/lcd/extui/dgus/fysetc> -<src/lcd/extui/dgus/hiprecy> -<src/lcd/extui/dgus/mks> -<src/lcd/extui/dgus/origin>
@@ -97,6 +98,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
   -<src/feature/backlash.cpp>
   -<src/feature/baricuda.cpp> -<src/gcode/feature/baricuda>
   -<src/feature/bedlevel/abl> -<src/gcode/bedlevel/abl>
+  -<src/feature/bedlevel/abl/x_twist.cpp>
   -<src/feature/bedlevel/mbl> -<src/gcode/bedlevel/mbl>
   -<src/feature/bedlevel/ubl> -<src/gcode/bedlevel/ubl>
   -<src/feature/bedlevel/hilbert_curve.cpp>