We can use the contactless probing at first with higher speed
then use the contact probing at second homing with lower speed,
that can reduce the time of the whole homing process.
Test video:https://youtu.be/90N1mQVQ4Oc
homing_retract_dist to 0 in [stepper_z], else the nozzle will crash into bed[stepper_z]
.....
homing_speed: 8
second_homing_speed:2
homing_retract_dist:0
Add homing_cmd:G990028 into the section [BDsensor]
Add the following macro G28
## the homing_retract_dist in the [stepper_z] must be 0
[gcode_macro G28]
rename_existing: G990028
gcode:
{% if params|length == 1 %}
{ action_respond_info("homing all") }
G990028 X Y
## Homing with contactless probe with the homing_speed in [stepper_z]
BDSENSOR_SET COLLISION_HOMING=0
G990028 Z
## Homing with contact probe with the second_homing_speed in [stepper_z]
BDSENSOR_SET COLLISION_HOMING=1
G990028 Z
{% else %}
{% if 'x' in params or 'X' in params %}
{ action_respond_info("homing x") }
G990028 X
{% endif %}
{% if 'y' in params or 'Y' in params %}
{ action_respond_info("homing y") }
G990028 Y
{% endif %}
{% if 'z' in params or 'Z' in params %}
{ action_respond_info("homing z") }
## Homing with contactless probe with the homing_speed in [stepper_z]
BDSENSOR_SET COLLISION_HOMING=0
G990028 Z
## Homing with contact probe with the second_homing_speed in [stepper_z]
BDSENSOR_SET COLLISION_HOMING=1
G990028 Z
{% endif %}
{% endif %}
the speed of collision homing is the same as second_homing_speed,so please increase the the second_homing_speed if there is warning: triggered in air.