BDSensor stopped working correctly after the latest update

[ShadowManzo]

Before the latest update, BDSensor was working very well with collision_homing: 1 and collision_calibrate: 1. The nozzle would slightly collide with the bed to find the zero point, and from there it was easy to calculate the first-layer distance and adjust the offset with babystepping.

After updating, the nozzle no longer collides with the bed, and I can’t get a correct first-layer offset anymore. I’ve tried both the paper method and live first-layer adjustment, but nothing works properly.

Hardware
Ender 3 Pro
Mellow Fly E3 Ultra MCU
Raspberry Pi 4
Linear rails on all 3 axes
Sprite Extruder
Independent dual Z

[markniu]

Did other commands work like M102 S-1 / M102 S-7?

[markniu]

Thanks for the feedback! You're correct — the latest Klipper refactored
the Z homing event path, which broke BDsensor's collision homing.
The BDsensor.py has been updated to fix this. Please update and restart.

[ShadowManzo]

The collision detection and auto-calibration behavior appears to be working again. However, I am observing an unusual issue when running SCREW_TILT_CALCULATE: when the probe reaches the last point, the sensor seems to trigger auto-calibration again unexpectedly. I have included the console output below for reference.

3:30 p. m.
Calibrate Finished!
3:30 p. m.
1015 at 3.9mm
3:30 p. m.
1015 at 3.8mm
3:30 p. m.
1015 at 3.7mm
3:30 p. m.
1015 at 3.6mm
3:30 p. m.
955 at 3.5mm
3:30 p. m.
950 at 3.4mm
3:30 p. m.
940 at 3.3mm
3:30 p. m.
929 at 3.2mm
3:30 p. m.
916 at 3.1mm
3:30 p. m.
900 at 3.0mm
3:30 p. m.
887 at 2.9mm
3:30 p. m.
873 at 2.8mm
3:30 p. m.
858 at 2.7mm
3:30 p. m.
841 at 2.6mm
3:30 p. m.
823 at 2.5mm
3:30 p. m.
806 at 2.4mm
3:30 p. m.
787 at 2.3mm
3:30 p. m.
766 at 2.2mm
3:30 p. m.
749 at 2.1mm
3:30 p. m.
726 at 2.0mm
3:30 p. m.
704 at 1.9mm
3:30 p. m.
680 at 1.8mm
3:30 p. m.
657 at 1.7mm
3:30 p. m.
630 at 1.6mm
3:30 p. m.
605 at 1.5mm
3:30 p. m.
577 at 1.4mm
3:30 p. m.
552 at 1.3mm
3:30 p. m.
522 at 1.2mm
3:30 p. m.
493 at 1.1mm
3:30 p. m.
464 at 1.0mm
3:30 p. m.
432 at 0.9mm
3:30 p. m.
403 at 0.8mm
3:30 p. m.
373 at 0.7mm
3:30 p. m.
342 at 0.6mm
3:30 p. m.
310 at 0.5mm
3:30 p. m.
279 at 0.4mm
3:30 p. m.
250 at 0.3mm
3:30 p. m.
220 at 0.2mm
3:30 p. m.
192 at 0.1mm
3:30 p. m.
172 at 0.0mm
3:30 p. m.
Please Wait...
3:30 p. m.
Calibrating, don't power off the printer
3:30 p. m.
WARNING: Unexpected Z offset detected (-0.130mm). Possible causes: plate swap, bed tilt, or sensor drift. Running auto-recalibration...
3:30 p. m.
bd_value at 0.370 mm
3:30 p. m.
Raw data:171 at 0 mm, BDsensor to bed: 0.6840 mm, Bed: 27.6C, z_offset: -0.230
3:29 p. m.
atras_der : x=200.0, y=173.0, z=0.19625 : adjust CCW 00:02
3:29 p. m.
frente_der : x=200.0, y=3.0, z=0.18583 : adjust CCW 00:01
3:29 p. m.
frente_izq : x=34.0, y=3.0, z=0.14250 : adjust CW 00:03
3:29 p. m.
atras_izq (base) : x=34.0, y=173.0, z=0.17250
3:29 p. m.
01:20 means 1 full turn and 20 minutes, CW=clockwise, CCW=counter-clockwise
3:29 p. m.
0probe: at 196.000,200.000 bed will contact at z=0.196250
3:29 p. m.
0probe: at 196.000,30.000 bed will contact at z=0.185833
3:29 p. m.
0probe: at 30.000,30.000 bed will contact at z=0.142500
3:29 p. m.
0probe: at 30.000,200.000 bed will contact at z=0.172500
3:29 p. m.
bd_value at 0.260 mm
3:29 p. m.
Raw data:143 at 0 mm, BDsensor to bed: 0.5720 mm, Bed: 27.9C, z_offset: -0.230
3:29 p. m.
0probe: at 117.500,117.500 bed will contact at z=5.307500
3:29 p. m.
0probe: at 117.500,117.500 bed will contact at z=354.651250
3:29 p. m.
G28 Z
3:28 p. m.
Raw data:1015, Then we can calculate the distance by comparing to the calibration data:9.92mm
3:28 p. m.
M102 S-7
3:28 p. m.
BDsensorVer:V1.2c pandapi3d ,switch_mode=1,collision_homing=1,collision_cal=1
3:28 p. m.
M102 S-1
3:28 p. m.
bd_value at 0.240 mm
3:28 p. m.
Raw data:140 at 0 mm, BDsensor to bed: 0.5600 mm, Bed: 28.4C, z_offset: -0.230
3:28 p. m.
0probe: at 117.500,117.500 bed will contact at z=5.217500
3:28 p. m.
0probe: at 117.500,117.500 bed will contact at z=354.681250
3:28 p. m.
G28 Z
3:22 p. m.
bd_value at 0.250 mm
3:22 p. m.
Raw data:142 at 0 mm, BDsensor to bed: 0.5680 mm, Bed: 32.0C, z_offset: -0.230
3:21 p. m.
0probe: at 117.500,117.500 bed will contact at z=5.236250
3:21 p. m.
0probe: at 117.500,117.500 bed will contact at z=354.711250
3:21 p. m.
G28 Z
3:21 p. m.
bd_value at 0.230 mm
3:21 p. m.
Raw data:139 at 0 mm, BDsensor to bed: 0.5560 mm, Bed: 32.3C, z_offset: -0.230
3:21 p. m.
0probe: at 117.500,117.500 bed will contact at z=5.200000
3:21 p. m.
0probe: at 117.500,117.500 bed will contact at z=354.890000
3:21 p. m.
G28
3:20 p. m.
Calibrate Finished!
3:20 p. m.
1015 at 3.9mm
3:20 p. m.
1015 at 3.8mm
3:20 p. m.
1015 at 3.7mm
3:20 p. m.
958 at 3.6mm
3:20 p. m.
950 at 3.5mm
3:20 p. m.
939 at 3.4mm
3:20 p. m.
928 at 3.3mm
3:20 p. m.
916 at 3.2mm
3:20 p. m.
901 at 3.1mm
3:20 p. m.
887 at 3.0mm
3:20 p. m.
872 at 2.9mm
3:20 p. m.
857 at 2.8mm
3:20 p. m.
841 at 2.7mm
3:20 p. m.
822 at 2.6mm
3:20 p. m.
805 at 2.5mm
3:20 p. m.
786 at 2.4mm
3:20 p. m.
765 at 2.3mm
3:20 p. m.
746 at 2.2mm
3:20 p. m.
726 at 2.1mm
3:20 p. m.
702 at 2.0mm
3:20 p. m.
679 at 1.9mm
3:20 p. m.
656 at 1.8mm
3:20 p. m.
629 at 1.7mm
3:20 p. m.
606 at 1.6mm
3:20 p. m.
577 at 1.5mm
3:20 p. m.
552 at 1.4mm
3:20 p. m.
522 at 1.3mm
3:20 p. m.
493 at 1.2mm
3:20 p. m.
463 at 1.1mm
3:20 p. m.
434 at 1.0mm
3:20 p. m.
403 at 0.9mm
3:20 p. m.
372 at 0.8mm
3:20 p. m.
342 at 0.7mm
3:20 p. m.
311 at 0.6mm
3:20 p. m.
281 at 0.5mm
3:20 p. m.
251 at 0.4mm
3:20 p. m.
223 at 0.3mm
3:20 p. m.
195 at 0.2mm
3:20 p. m.
169 at 0.1mm
3:20 p. m.
147 at 0.0mm
3:19 p. m.
Please Wait...
3:19 p. m.
Calibrating, don't power off the printer
3:19 p. m.
WARNING: Unexpected Z offset detected (-0.350mm). Possible causes: plate swap, bed tilt, or sensor drift. Running auto-recalibration...
3:19 p. m.
bd_value at 0.150 mm
3:19 p. m.
Raw data:146 at 0 mm, BDsensor to bed: 0.5840 mm, Bed: 33.7C, z_offset: -0.230
3:19 p. m.
0probe: at 117.500,117.500 bed will contact at z=5.362500
3:19 p. m.
0probe: at 117.500,117.500 bed will contact at z=354.710000
3:19 p. m.
G28
3:19 p. m.
Calibrate Finished!
3:19 p. m.
1015 at 3.9mm
3:19 p. m.
1015 at 3.8mm
3:19 p. m.
1015 at 3.7mm
3:19 p. m.
1015 at 3.6mm
3:19 p. m.
955 at 3.5mm
3:19 p. m.
949 at 3.4mm
3:19 p. m.
938 at 3.3mm
3:19 p. m.
927 at 3.2mm
3:19 p. m.
914 at 3.1mm
3:18 p. m.
899 at 3.0mm
3:18 p. m.
885 at 2.9mm
3:18 p. m.
871 at 2.8mm
3:18 p. m.
857 at 2.7mm
3:18 p. m.
839 at 2.6mm
3:18 p. m.
823 at 2.5mm
3:18 p. m.
807 at 2.4mm
3:18 p. m.
788 at 2.3mm
3:18 p. m.
769 at 2.2mm
3:18 p. m.
749 at 2.1mm
3:18 p. m.
726 at 2.0mm
3:18 p. m.
704 at 1.9mm
3:18 p. m.
681 at 1.8mm
3:18 p. m.
658 at 1.7mm
3:18 p. m.
631 at 1.6mm
3:18 p. m.
607 at 1.5mm
3:18 p. m.
579 at 1.4mm
3:18 p. m.
554 at 1.3mm
3:18 p. m.
526 at 1.2mm
3:18 p. m.
498 at 1.1mm
3:18 p. m.
468 at 1.0mm
3:18 p. m.
438 at 0.9mm
3:18 p. m.
408 at 0.8mm
3:18 p. m.
377 at 0.7mm
3:18 p. m.
347 at 0.6mm
3:18 p. m.
316 at 0.5mm
3:18 p. m.
286 at 0.4mm
3:18 p. m.
256 at 0.3mm
3:18 p. m.
226 at 0.2mm
3:18 p. m.
196 at 0.1mm
3:18 p. m.
174 at 0.0mm
3:18 p. m.
Please Wait...
3:18 p. m.
Calibrating, don't power off the printer
3:18 p. m.
WARNING: Unexpected Z offset detected (-0.070mm). Possible causes: plate swap, bed tilt, or sensor drift. Running auto-recalibration...
3:18 p. m.
bd_value at 0.430 mm
3:18 p. m.
Raw data:173 at 0 mm, BDsensor to bed: 0.6920 mm, Bed: 35.4C, z_offset: -0.230
3:18 p. m.
atras_der : x=200.0, y=173.0, z=0.09375 : adjust CW 00:01
3:18 p. m.
frente_der : x=200.0, y=3.0, z=0.09375 : adjust CW 00:01
3:18 p. m.
frente_izq : x=34.0, y=3.0, z=0.07000 : adjust CW 00:03
3:18 p. m.
atras_izq (base) : x=34.0, y=173.0, z=0.10000
3:18 p. m.
01:20 means 1 full turn and 20 minutes, CW=clockwise, CCW=counter-clockwise
3:18 p. m.
0probe: at 196.000,200.000 bed will contact at z=0.093750
3:17 p. m.
0probe: at 196.000,30.000 bed will contact at z=0.093750
3:17 p. m.
0probe: at 30.000,30.000 bed will contact at z=0.070000
3:17 p. m.
0probe: at 30.000,200.000 bed will contact at z=0.100000
3:17 p. m.
bd_value at 0.310 mm
3:17 p. m.
Raw data:145 at 0 mm, BDsensor to bed: 0.5800 mm, Bed: 36.2C, z_offset: -0.230
3:17 p. m.
0probe: at 117.500,117.500 bed will contact at z=5.236250
3:17 p. m.
0probe: at 117.500,117.500 bed will contact at z=353.930000
3:17 p. m.
BDsensorVer:V1.2c,switch_mode=1,collision_homing=1,collision_cal=1
3:17 p. m.
G28

[markniu]

Sorry for the delayed update! Please try the latest BDsensor.py .854a074