Merge pull request #8624 from thinkyhead/bf2_skew_correction

[2.0] Skew Correction
7 years ago · 98aba6a534
56 changed files with 2827 additions and 85 deletions
--- a/.travis.yml
+++ b/.travis.yml
@ -62,7 +62,7 @@ script:
  - opt_enable PIDTEMPBED FIX_MOUNTED_PROBE Z_SAFE_HOMING ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS
  - opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS
  - opt_enable BLINKM PCA9632 RGB_LED NEOPIXEL_LED
-  - opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
+  - opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE
  - opt_enable_adv FWRETRACT MAX7219_DEBUG LED_CONTROL_MENU
  - opt_set ABL_GRID_POINTS_X 16
  - opt_set ABL_GRID_POINTS_Y 16
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/default/Configuration.h
+++ b/Marlin/src/config/default/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h
+++ b/Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h
@ -852,7 +852,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1059,6 +1059,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (8*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/AliExpress/CL-260/Configuration.h
+++ b/Marlin/src/config/examples/AliExpress/CL-260/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Anet/A6/Configuration.h
+++ b/Marlin/src/config/examples/Anet/A6/Configuration.h
@ -951,7 +951,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1196,6 +1196,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Anet/A8/Configuration.h
+++ b/Marlin/src/config/examples/Anet/A8/Configuration.h
@ -838,7 +838,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1045,6 +1045,63 @@
 #define HOMING_FEEDRATE_XY (100*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Azteeg/X5GT/Configuration.h
+++ b/Marlin/src/config/examples/Azteeg/X5GT/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/BQ/Hephestos/Configuration.h
+++ b/Marlin/src/config/examples/BQ/Hephestos/Configuration.h
@ -823,7 +823,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1030,6 +1030,63 @@
 #define HOMING_FEEDRATE_XY 2000
 #define HOMING_FEEDRATE_Z  150

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/BQ/Hephestos_2/Configuration.h
+++ b/Marlin/src/config/examples/BQ/Hephestos_2/Configuration.h
@ -833,7 +833,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1040,6 +1040,63 @@
 #define HOMING_FEEDRATE_XY (60*60)
 #define HOMING_FEEDRATE_Z  120

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/BQ/WITBOX/Configuration.h
+++ b/Marlin/src/config/examples/BQ/WITBOX/Configuration.h
@ -823,7 +823,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1030,6 +1030,63 @@
 #define HOMING_FEEDRATE_XY (120*60)
 #define HOMING_FEEDRATE_Z  432

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Cartesio/Configuration.h
+++ b/Marlin/src/config/examples/Cartesio/Configuration.h
@ -831,7 +831,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1038,6 +1038,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (10*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Creality/CR-10/Configuration.h
+++ b/Marlin/src/config/examples/Creality/CR-10/Configuration.h
@ -842,7 +842,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1049,6 +1049,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Felix/Configuration.h
+++ b/Marlin/src/config/examples/Felix/Configuration.h
@ -814,7 +814,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1021,6 +1021,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Felix/DUAL/Configuration.h
+++ b/Marlin/src/config/examples/Felix/DUAL/Configuration.h
@ -814,7 +814,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1021,6 +1021,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/FolgerTech/i3-2020/Configuration.h
+++ b/Marlin/src/config/examples/FolgerTech/i3-2020/Configuration.h
@ -829,7 +829,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1036,6 +1036,63 @@
 #define HOMING_FEEDRATE_XY (40*60)
 #define HOMING_FEEDRATE_Z  (55)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Geeetech/GT2560/Configuration.h
+++ b/Marlin/src/config/examples/Geeetech/GT2560/Configuration.h
@ -847,7 +847,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1054,6 +1054,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h
+++ b/Marlin/src/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Infitary/i3-M508/Configuration.h
+++ b/Marlin/src/config/examples/Infitary/i3-M508/Configuration.h
@ -836,7 +836,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1043,6 +1043,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Malyan/M150/Configuration.h
+++ b/Marlin/src/config/examples/Malyan/M150/Configuration.h
@ -856,7 +856,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1067,6 +1067,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Micromake/C1/basic/Configuration.h
+++ b/Marlin/src/config/examples/Micromake/C1/basic/Configuration.h
@ -836,7 +836,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1043,6 +1043,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Micromake/C1/enhanced/Configuration.h
+++ b/Marlin/src/config/examples/Micromake/C1/enhanced/Configuration.h
@ -836,7 +836,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1043,6 +1043,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Mks/Sbase/Configuration.h
+++ b/Marlin/src/config/examples/Mks/Sbase/Configuration.h
@ -833,7 +833,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1040,6 +1040,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/src/config/examples/RepRapWorld/Megatronics/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/RigidBot/Configuration.h
+++ b/Marlin/src/config/examples/RigidBot/Configuration.h
@ -830,7 +830,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1037,6 +1037,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (15*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/SCARA/Configuration.h
+++ b/Marlin/src/config/examples/SCARA/Configuration.h
@ -844,7 +844,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1051,6 +1051,63 @@
 #define HOMING_FEEDRATE_XY (40*60)
 #define HOMING_FEEDRATE_Z  (10*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/STM32F10/Configuration.h
+++ b/Marlin/src/config/examples/STM32F10/Configuration.h
@ -835,7 +835,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1042,6 +1042,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Sanguinololu/Configuration.h
+++ b/Marlin/src/config/examples/Sanguinololu/Configuration.h
@ -863,7 +863,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1070,6 +1070,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (6*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/TinyBoy2/Configuration.h
+++ b/Marlin/src/config/examples/TinyBoy2/Configuration.h
@ -888,7 +888,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1095,6 +1095,63 @@
 #define HOMING_FEEDRATE_XY (40*60)
 #define HOMING_FEEDRATE_Z  (3*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/UltiMachine/Archim2/Configuration.h
+++ b/Marlin/src/config/examples/UltiMachine/Archim2/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Velleman/K8200/Configuration.h
+++ b/Marlin/src/config/examples/Velleman/K8200/Configuration.h
@ -862,7 +862,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1069,6 +1069,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Velleman/K8400/Configuration.h
+++ b/Marlin/src/config/examples/Velleman/K8400/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (8*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/Velleman/K8400/Dual-head/Configuration.h
+++ b/Marlin/src/config/examples/Velleman/K8400/Dual-head/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (8*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/adafruit/ST7565/Configuration.h
+++ b/Marlin/src/config/examples/adafruit/ST7565/Configuration.h
@ -832,7 +832,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1039,6 +1039,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/auto_calibrate/Configuration.h
@ -962,7 +962,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1172,6 +1172,63 @@
 // Delta only homes to Z
 #define HOMING_FEEDRATE_Z  (100*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
+++ b/Marlin/src/config/examples/delta/FLSUN/kossel_mini/Configuration.h
@ -962,7 +962,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1166,6 +1166,63 @@
 // Delta only homes to Z
 #define HOMING_FEEDRATE_Z  (45*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/delta/generic/Configuration.h
+++ b/Marlin/src/config/examples/delta/generic/Configuration.h
@ -949,7 +949,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1160,6 +1160,63 @@
 // Delta only homes to Z
 #define HOMING_FEEDRATE_Z  (200*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_mini/Configuration.h
@ -952,7 +952,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1163,6 +1163,63 @@
 // Delta only homes to Z
 #define HOMING_FEEDRATE_Z  (200*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_pro/Configuration.h
@ -952,7 +952,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1163,6 +1163,63 @@
 // Delta only homes to Z
 #define HOMING_FEEDRATE_Z  (200*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
+++ b/Marlin/src/config/examples/delta/kossel_xl/Configuration.h
@ -961,7 +961,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1172,6 +1172,63 @@
 // Delta only homes to Z
 #define HOMING_FEEDRATE_Z  (60*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/gCreate/gMax1.5+/Configuration.h
+++ b/Marlin/src/config/examples/gCreate/gMax1.5+/Configuration.h
@ -846,7 +846,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1053,6 +1053,63 @@
 #define HOMING_FEEDRATE_XY (60*60)
 #define HOMING_FEEDRATE_Z  (14*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/makibox/Configuration.h
+++ b/Marlin/src/config/examples/makibox/Configuration.h
@ -835,7 +835,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1042,6 +1042,63 @@
 #define HOMING_FEEDRATE_XY 1500
 #define HOMING_FEEDRATE_Z  (2*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/tvrrug/Round2/Configuration.h
+++ b/Marlin/src/config/examples/tvrrug/Round2/Configuration.h
@ -827,7 +827,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1034,6 +1034,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/config/examples/wt150/Configuration.h
+++ b/Marlin/src/config/examples/wt150/Configuration.h
@ -837,7 +837,7 @@
 //===========================================================================
 //=============================== Bed Leveling ==============================
 //===========================================================================
-// @section bedlevel
+// @section calibrate

 /**
 * Choose one of the options below to enable G29 Bed Leveling. The parameters
@ -1044,6 +1044,63 @@
 #define HOMING_FEEDRATE_XY (50*60)
 #define HOMING_FEEDRATE_Z  (4*60)

+// @section calibrate
+
+/**
+ * Bed Skew Compensation
+ *
+ * This feature corrects for misalignment in the XYZ axes.
+ *
+ * Take the following steps to get the bed skew in the XY plane:
+ *  1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185)
+ *  2. For XY_DIAG_AC measure the diagonal A to C
+ *  3. For XY_DIAG_BD measure the diagonal B to D
+ *  4. For XY_SIDE_AD measure the edge A to D
+ *
+ * Marlin automatically computes skew factors from these measurements.
+ * Skew factors may also be computed and set manually:
+ *
+ *  - Compute AB     : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2
+ *  - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD)))
+ *
+ * If desired, follow the same procedure for XZ and YZ.
+ * Use these diagrams for reference:
+ *
+ *    Y                     Z                     Z
+ *    ^     B-------C       ^     B-------C       ^     B-------C
+ *    |    /       /        |    /       /        |    /       /
+ *    |   /       /         |   /       /         |   /       /
+ *    |  A-------D          |  A-------D          |  A-------D
+ *    +-------------->X     +-------------->X     +-------------->Y
+ *     XY_SKEW_FACTOR        XZ_SKEW_FACTOR        YZ_SKEW_FACTOR
+ */
+//#define SKEW_CORRECTION
+
+#if ENABLED(SKEW_CORRECTION)
+  // Input all length measurements here:
+  #define XY_DIAG_AC 282.8427124746
+  #define XY_DIAG_BD 282.8427124746
+  #define XY_SIDE_AD 200
+
+  // Or, set the default skew factors directly here
+  // to override the above measurements:
+  #define XY_SKEW_FACTOR 0.0
+
+  //#define SKEW_CORRECTION_FOR_Z
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #define XZ_DIAG_AC 282.8427124746
+    #define XZ_DIAG_BD 282.8427124746
+    #define YZ_DIAG_AC 282.8427124746
+    #define YZ_DIAG_BD 282.8427124746
+    #define YZ_SIDE_AD 200
+    #define XZ_SKEW_FACTOR 0.0
+    #define YZ_SKEW_FACTOR 0.0
+  #endif
+
+  // Enable this option for M852 to set skew at runtime
+  //#define SKEW_CORRECTION_GCODE
+#endif
+
 //=============================================================================
 //============================= Additional Features ===========================
 //=============================================================================
--- a/Marlin/src/core/language.h
+++ b/Marlin/src/core/language.h
@ -130,7 +130,6 @@
 #define MSG_ERR_LINE_NO                     "Line Number is not Last Line Number+1, Last Line: "
 #define MSG_ERR_CHECKSUM_MISMATCH           "checksum mismatch, Last Line: "
 #define MSG_ERR_NO_CHECKSUM                 "No Checksum with line number, Last Line: "
-#define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line: "
 #define MSG_FILE_PRINTED                    "Done printing file"
 #define MSG_BEGIN_FILE_LIST                 "Begin file list"
 #define MSG_END_FILE_LIST                   "End file list"
@ -163,6 +162,9 @@
 #define MSG_Z2_MAX                          "z2_max: "
 #define MSG_Z_PROBE                         "z_probe: "
 #define MSG_PROBE_Z_OFFSET                  "Probe Z Offset"
+#define MSG_SKEW_MIN                        "min_skew_factor: "
+#define MSG_SKEW_MAX                        "max_skew_factor: "
+#define MSG_SKEW_WARN                       "WARNING: Skew compensation disabled (outside MIN/MAX limits)"
 #define MSG_FILAMENT_RUNOUT_SENSOR          "filament: "
 #define MSG_ERR_MATERIAL_INDEX              "M145 S<index> out of range (0-1)"
 #define MSG_ERR_M355_NONE                   "No case light"
--- a/Marlin/src/gcode/calibrate/M852.cpp
+++ b/Marlin/src/gcode/calibrate/M852.cpp
@ -0,0 +1,89 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(SKEW_CORRECTION_GCODE)
+
+#include "../gcode.h"
+#include "../../module/planner.h"
+
+/**
+ * M852: Get or set the machine skew factors. Reports current values with no arguments.
+ *
+ *  S[xy_factor] - Alias for 'I'
+ *  I[xy_factor] - New XY skew factor
+ *  J[xz_factor] - New XZ skew factor
+ *  K[yz_factor] - New YZ skew factor
+ */
+void GcodeSuite::M852() {
+  const bool ijk = parser.seen('I') || parser.seen('S')
+    #if ENABLED(SKEW_CORRECTION_FOR_Z)
+      || parser.seen('J') || parser.seen('K')
+    #endif
+  ;
+  bool badval = false;
+
+  if (parser.seen('I') || parser.seen('S')) {
+    const float value = parser.value_linear_units();
+    if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX))
+      planner.xy_skew_factor = value;
+    else
+      badval = true;
+  }
+
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+
+    if (parser.seen('J')) {
+      const float value = parser.value_linear_units();
+      if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX))
+        planner.xz_skew_factor = value;
+      else
+        badval = true;
+    }
+
+    if (parser.seen('K')) {
+      const float value = parser.value_linear_units();
+      if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX))
+        planner.yz_skew_factor = value;
+      else
+        badval = true;
+    }
+
+  #endif
+
+  if (badval)
+    SERIAL_ECHOLNPGM(MSG_SKEW_MIN " " STRINGIFY(SKEW_FACTOR_MIN) " " MSG_SKEW_MAX " " STRINGIFY(SKEW_FACTOR_MAX));
+
+  if (!ijk) {
+    SERIAL_ECHO_START();
+    SERIAL_ECHOPAIR(MSG_SKEW_FACTOR " XY: ", planner.xy_skew_factor);
+    #if ENABLED(SKEW_CORRECTION_FOR_Z)
+      SERIAL_ECHOPAIR(" XZ: ", planner.xz_skew_factor);
+      SERIAL_ECHOLNPAIR(" YZ: ", planner.yz_skew_factor);
+    #else
+      SERIAL_EOL();
+    #endif
+  }
+}
+
+#endif // SKEW_CORRECTION_GCODE
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@ -622,6 +622,12 @@ void GcodeSuite::process_parsed_command() {
          break;
      #endif // HAS_BED_PROBE

+      #if ENABLED(SKEW_CORRECTION_GCODE)
+        case 852: // M852: Set Skew factors
+          M852();
+          break;
+      #endif
+
      #if ENABLED(ADVANCED_PAUSE_FEATURE)
        case 600: // M600: Pause for filament change
          M600();
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@ -201,6 +201,7 @@
 * M666 - Set delta endstop adjustment. (Requires DELTA)
 * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
 * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
+ * M852 - Set skew factors: "M852 [I<xy>] [J<xz>] [K<yz>]". (Requires SKEW_CORRECTION_GCODE, and SKEW_CORRECTION_FOR_Z for IJ)
 * M860 - Report the position of position encoder modules.
 * M861 - Report the status of position encoder modules.
 * M862 - Perform an axis continuity test for position encoder modules.
@ -705,6 +706,10 @@ private:
    static void M851();
  #endif

+  #if ENABLED(SKEW_CORRECTION_GCODE)
+    static void M852();
+  #endif
+
  #if ENABLED(I2C_POSITION_ENCODERS)
    FORCE_INLINE static void M860() { I2CPEM.M860(); }
    FORCE_INLINE static void M861() { I2CPEM.M861(); }
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@ -888,6 +888,49 @@
  #define Z_PROBE_OFFSET_FROM_EXTRUDER 0
 #endif

+/**
+ * XYZ Bed Skew Correction
+ */
+#if ENABLED(SKEW_CORRECTION)
+  #define SKEW_FACTOR_MIN -1
+  #define SKEW_FACTOR_MAX 1
+
+  #define _GET_SIDE(a,b,c) (SQRT(2*sq(a)+2*sq(b)-4*sq(c))*0.5)
+  #define _SKEW_SIDE(a,b,c) tan(M_PI*0.5-acos((sq(a)-sq(b)-sq(c))/(2*c*b)))
+  #define _SKEW_FACTOR(a,b,c) _SKEW_SIDE(a,_GET_SIDE(a,b,c),c)
+
+  #ifndef XY_SKEW_FACTOR
+    constexpr float XY_SKEW_FACTOR = (
+      #if defined(XY_DIAG_AC) && defined(XY_DIAG_BD) && defined(XY_SIDE_AD)
+        _SKEW_FACTOR(XY_DIAG_AC, XY_DIAG_BD, XY_SIDE_AD)
+      #else
+        0.0
+      #endif
+    );
+  #endif
+  #ifndef XZ_SKEW_FACTOR
+    #if defined(XY_SIDE_AD) && !defined(XZ_SIDE_AD)
+      #define XZ_SIDE_AD XY_SIDE_AD
+    #endif
+    constexpr float XZ_SKEW_FACTOR = (
+      #if defined(XZ_DIAG_AC) && defined(XZ_DIAG_BD) && defined(XZ_SIDE_AD)
+        _SKEW_FACTOR(XZ_DIAG_AC, XZ_DIAG_BD, XZ_SIDE_AD)
+      #else
+        0.0
+      #endif
+    );
+  #endif
+  #ifndef YZ_SKEW_FACTOR
+    constexpr float YZ_SKEW_FACTOR = (
+      #if defined(YZ_DIAG_AC) && defined(YZ_DIAG_BD) && defined(YZ_SIDE_AD)
+        _SKEW_FACTOR(YZ_DIAG_AC, YZ_DIAG_BD, YZ_SIDE_AD)
+      #else
+        0.0
+      #endif
+    );
+  #endif
+#endif // SKEW_CORRECTION
+
 /**
 * Heater & Fan Pausing
 */
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@ -1483,4 +1483,18 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
  #error "LED_CONTROL_MENU requires an LCD controller."
 #endif

+#if ENABLED(SKEW_CORRECTION)
+  #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
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+    #if !defined(XZ_SKEW_FACTOR) && !(defined(XZ_DIAG_AC) && defined(XZ_DIAG_BD) && defined(XZ_SIDE_AD))
+      #error "SKEW_CORRECTION requires XZ_SKEW_FACTOR or XZ_DIAG_AC, XZ_DIAG_BD, XZ_SIDE_AD."
+    #endif
+    #if !defined(YZ_SKEW_FACTOR) && !(defined(YZ_DIAG_AC) && defined(YZ_DIAG_BD) && defined(YZ_SIDE_AD))
+      #error "SKEW_CORRECTION requires YZ_SKEW_FACTOR or YZ_DIAG_AC, YZ_DIAG_BD, YZ_SIDE_AD."
+    #endif
+  #endif
+#endif
+
 #endif // _SANITYCHECK_H_
--- a/Marlin/src/lcd/language/language_en.h
+++ b/Marlin/src/lcd/language/language_en.h
@ -698,6 +698,9 @@
 #ifndef MSG_ZPROBE_OUT
  #define MSG_ZPROBE_OUT                      _UxGT("Z probe out. bed")
 #endif
+#ifndef MSG_SKEW_FACTOR
+  #define MSG_SKEW_FACTOR                     _UxGT("Skew Factor")
+#endif
 #ifndef MSG_BLTOUCH
  #define MSG_BLTOUCH                         _UxGT("BLTouch")
 #endif
--- a/Marlin/src/module/configuration_store.cpp
+++ b/Marlin/src/module/configuration_store.cpp
@ -36,13 +36,13 @@
 *
 */

-#define EEPROM_VERSION "V45"
+#define EEPROM_VERSION "V46"

 // Change EEPROM version if these are changed:
 #define EEPROM_OFFSET 100

 /**
- * V45 EEPROM Layout:
+ * V46 EEPROM Layout:
 *
 *  100  Version                                    (char x4)
 *  104  EEPROM CRC16                               (uint16_t)
@ -166,8 +166,13 @@
 * CNC_COORDINATE_SYSTEMS                           108 bytes
 *  602  G54-G59.3 coordinate_system                (float x 27)
 *
- *  710                                   Minimum end-point
- * 2239 (710 + 208 + 36 + 9 + 288 + 988)  Maximum end-point
+ * SKEW_CORRECTION:                                 12 bytes
+ *  710  M852 I    planner.xy_skew_factor           (float)
+ *  714  M852 J    planner.xz_skew_factor           (float)
+ *  718  M852 K    planner.yz_skew_factor           (float)
+ *
+ *  722                                   Minimum end-point
+ * 2251 (722 + 208 + 36 + 9 + 288 + 988)  Maximum end-point
 *
 * ========================================================================
 * meshes_begin (between max and min end-point, directly above)
@ -633,6 +638,10 @@ void MarlinSettings::postprocess() {
      for (uint8_t q = 3; q--;) EEPROM_WRITE(dummyui32);
    #endif

+    //
+    // CNC Coordinate Systems
+    //
+
    #if ENABLED(CNC_COORDINATE_SYSTEMS)
      EEPROM_WRITE(coordinate_system); // 27 floats
    #else
@ -640,6 +649,19 @@ void MarlinSettings::postprocess() {
      for (uint8_t q = 27; q--;) EEPROM_WRITE(dummy);
    #endif

+    //
+    // Skew correction factors
+    //
+
+    #if ENABLED(SKEW_CORRECTION)
+      EEPROM_WRITE(planner.xy_skew_factor);
+      EEPROM_WRITE(planner.xz_skew_factor);
+      EEPROM_WRITE(planner.yz_skew_factor);
+    #else
+      dummy = 0.0f;
+      for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy);
+    #endif
+
    if (!eeprom_error) {
      #if ENABLED(EEPROM_CHITCHAT)
        const int eeprom_size = eeprom_index;
@ -1078,6 +1100,23 @@ void MarlinSettings::postprocess() {
        for (uint8_t q = 27; q--;) EEPROM_READ(dummy);
      #endif

+      //
+      // Skew correction factors
+      //
+
+      #if ENABLED(SKEW_CORRECTION_GCODE)
+        EEPROM_READ(planner.xy_skew_factor);
+        #if ENABLED(SKEW_CORRECTION_FOR_Z)
+          EEPROM_READ(planner.xz_skew_factor);
+          EEPROM_READ(planner.yz_skew_factor);
+        #else
+          EEPROM_READ(dummy);
+          EEPROM_READ(dummy);
+        #endif
+      #else
+        for (uint8_t q = 3; q--;) EEPROM_READ(dummy);
+      #endif
+
      if (working_crc == stored_crc) {
        postprocess();
        #if ENABLED(EEPROM_CHITCHAT)
@ -1463,6 +1502,14 @@ void MarlinSettings::reset() {
    ubl.reset();
  #endif

+  #if ENABLED(SKEW_CORRECTION_GCODE)
+    planner.xy_skew_factor = XY_SKEW_FACTOR;
+    #if ENABLED(SKEW_CORRECTION_FOR_Z)
+      planner.xz_skew_factor = XZ_SKEW_FACTOR;
+      planner.yz_skew_factor = YZ_SKEW_FACTOR;
+    #endif
+  #endif
+
  postprocess();

  #if ENABLED(EEPROM_CHITCHAT)
@ -1887,6 +1934,24 @@ void MarlinSettings::reset() {
      SERIAL_ECHOLNPAIR("  M851 Z", LINEAR_UNIT(zprobe_zoffset));
    #endif

+    /**
+     * Bed Skew Correction
+     */
+    #if ENABLED(SKEW_CORRECTION_GCODE)
+      if (!forReplay) {
+        CONFIG_ECHO_START;
+        SERIAL_ECHOLNPGM("Skew Factor: ");
+      }
+      CONFIG_ECHO_START;
+      #if ENABLED(SKEW_CORRECTION_FOR_Z)
+        SERIAL_ECHOPAIR("  M852 I", LINEAR_UNIT(planner.xy_skew_factor));
+        SERIAL_ECHOPAIR(" J", LINEAR_UNIT(planner.xz_skew_factor));
+        SERIAL_ECHOLNPAIR(" K", LINEAR_UNIT(planner.yz_skew_factor));
+      #else
+        SERIAL_ECHOLNPAIR("  M852 S", LINEAR_UNIT(planner.xy_skew_factor));
+      #endif
+    #endif
+
    /**
     * TMC2130 stepper driver current
     */
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@ -135,6 +135,20 @@ float Planner::min_feedrate_mm_s,
  #endif
 #endif

+#if ENABLED(SKEW_CORRECTION)
+  #if ENABLED(SKEW_CORRECTION_GCODE)
+    // Initialized by settings.load()
+    float Planner::xy_skew_factor;
+    #if ENABLED(SKEW_CORRECTION_FOR_Z)
+      float Planner::xz_skew_factor, Planner::yz_skew_factor;
+    #else
+      constexpr float Planner::xz_skew_factor, Planner::yz_skew_factor;
+    #endif
+  #else
+    constexpr float Planner::xy_skew_factor, Planner::xz_skew_factor, Planner::yz_skew_factor;
+  #endif
+#endif
+
 #if ENABLED(AUTOTEMP)
  float Planner::autotemp_max = 250,
        Planner::autotemp_min = 210,
@ -565,6 +579,19 @@ void Planner::calculate_volumetric_multipliers() {
   */
  void Planner::apply_leveling(float &rx, float &ry, float &rz) {

+    #if ENABLED(SKEW_CORRECTION)
+      if (WITHIN(rx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(ry, Y_MIN_POS + 1, Y_MAX_POS)) {
+        const float tempry = ry - (rz * planner.yz_skew_factor),
+                    temprx = rx - (ry * planner.xy_skew_factor) - (rz * (planner.xz_skew_factor - (planner.xy_skew_factor * planner.yz_skew_factor)));
+        if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
+          rx = temprx;
+          ry = tempry;
+        }
+        else
+          SERIAL_ECHOLN(MSG_SKEW_WARN);
+      }
+    #endif
+
    if (!leveling_active) return;

    #if ABL_PLANAR
@ -611,7 +638,13 @@ void Planner::calculate_volumetric_multipliers() {

  void Planner::unapply_leveling(float raw[XYZ]) {

-    if (!leveling_active) return;
+    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+      const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]);
+    #else
+      constexpr float fade_scaling_factor = 1.0;
+    #endif
+
+    if (leveling_active && fade_scaling_factor) {

      #if ABL_PLANAR

@ -625,14 +658,7 @@ void Planner::calculate_volumetric_multipliers() {
        raw[X_AXIS] = dx + X_TILT_FULCRUM;
        raw[Y_AXIS] = dy + Y_TILT_FULCRUM;

-    #else
-
-      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-        const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]);
-        if (!fade_scaling_factor) return;
-      #elif HAS_MESH
-        constexpr float fade_scaling_factor = 1.0;
-      #endif
+      #else // !ABL_PLANAR

        raw[Z_AXIS] -= (
          #if ENABLED(AUTO_BED_LEVELING_UBL)
@ -650,6 +676,18 @@ void Planner::calculate_volumetric_multipliers() {
          #endif
        );

+      #endif // !ABL_PLANAR
+    }
+
+    #if ENABLED(SKEW_CORRECTION)
+      if (WITHIN(raw[X_AXIS], X_MIN_POS, X_MAX_POS) && WITHIN(raw[Y_AXIS], Y_MIN_POS, Y_MAX_POS)) {
+        const float temprx = raw[X_AXIS] + raw[Y_AXIS] * planner.xy_skew_factor + raw[Z_AXIS] * planner.xz_skew_factor,
+                    tempry = raw[Y_AXIS] + raw[Z_AXIS] * planner.yz_skew_factor;
+        if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
+          raw[X_AXIS] = temprx;
+          raw[Y_AXIS] = tempry;
+        }
+      }
    #endif
  }

@ -658,11 +696,11 @@ void Planner::calculate_volumetric_multipliers() {
 /**
 * Planner::_buffer_line
 *
- * Add a new linear movement to the buffer.
+ * Add a new linear movement to the buffer in axis units.
 *
 * Leveling and kinematics should be applied ahead of calling this.
 *
- *  a,b,c,e     - target positions in mm or degrees
+ *  a,b,c,e   - target positions in mm and/or degrees
 *  fr_mm_s   - (target) speed of the move
 *  extruder  - target extruder
 */
@ -713,6 +751,10 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
  SERIAL_EOL();
  //*/

+  // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
+  if (DEBUGGING(DRYRUN))
+    position[E_AXIS] = target[E_AXIS];
+
  int32_t de = target[E_AXIS] - position[E_AXIS];

  #if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
@ -736,6 +778,10 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
    }
  #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE

+  #if ENABLED(LIN_ADVANCE)
+    float de_float = de * steps_to_mm[E_AXIS_N];
+  #endif
+
  // Compute direction bit-mask for this block
  uint8_t dm = 0;
  #if CORE_IS_XY
@ -1332,6 +1378,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
  previous_safe_speed = safe_speed;

  #if ENABLED(LIN_ADVANCE)
+
    /**
     *
     * Use LIN_ADVANCE for blocks if all these are true:
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@ -180,6 +180,23 @@ class Planner {
      static float extruder_advance_k, advance_ed_ratio;
    #endif

+    #if ENABLED(SKEW_CORRECTION)
+      #if ENABLED(SKEW_CORRECTION_GCODE)
+        static float xy_skew_factor;
+      #else
+        static constexpr float xy_skew_factor = XY_SKEW_FACTOR;
+      #endif
+      #if ENABLED(SKEW_CORRECTION_FOR_Z)
+        #if ENABLED(SKEW_CORRECTION_GCODE)
+          static float xz_skew_factor, yz_skew_factor;
+        #else
+          static constexpr float xz_skew_factor = XZ_SKEW_FACTOR, yz_skew_factor = YZ_SKEW_FACTOR;
+        #endif
+      #else
+        static constexpr float xz_skew_factor = 0, yz_skew_factor = 0;
+      #endif
+    #endif
+
  private:

    /**
--- a/Marlin/src/module/temperature.cpp
+++ b/Marlin/src/module/temperature.cpp
@ -1357,7 +1357,7 @@ void Temperature::init() {
    millis_t Temperature::thermal_runaway_bed_timer;
  #endif

-  void Temperature::thermal_runaway_protection(Temperature::TRState* state, millis_t* timer, float current, float target, int heater_id, int period_seconds, int hysteresis_degc) {
+  void Temperature::thermal_runaway_protection(Temperature::TRState * const state, millis_t * const timer, const float current, const float target, const int8_t heater_id, const uint16_t period_seconds, const uint16_t hysteresis_degc) {

    static float tr_target_temperature[HOTENDS + 1] = { 0.0 };

--- a/Marlin/src/module/temperature.h
+++ b/Marlin/src/module/temperature.h
@ -574,7 +574,7 @@ class Temperature {

      typedef enum TRState { TRInactive, TRFirstHeating, TRStable, TRRunaway } TRstate;

-      static void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
+      static void thermal_runaway_protection(TRState * const state, millis_t * const timer, const float current, const float target, const int8_t heater_id, const uint16_t period_seconds, const uint16_t hysteresis_degc);

      #if ENABLED(THERMAL_PROTECTION_HOTENDS)
        static TRState thermal_runaway_state_machine[HOTENDS];