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+Klipper is currently in an experimental state. There are several
+features still to be implemented.  In no particular order:
+
+Host user interaction
+=====================
+
+* Improve error reporting:
+
+ * Improve error checks on config file values. If a parameter is
+   incorrect or missing a more friendly error message should be
+   presented to the user.
+
+ * Warn on any unused config settings (to catch spelling errors or
+   fields defined in an incorrect section).
+
+ * Find a better way to report errors. Octoprint sometimes doesn't
+   highlight an error (one has to look in the terminal tab to find the
+   error) and errors written to the log can be non-obvious to a user.
+
+ * Route errors from the host C code to the main log file.
+
+* Support clearing MCU shutdown events from the host without having to
+  restart the firmware.
+
+* Provide startup scripts so that Klippy can startup at system bootup.
+
+* Support ASCII based commands in addition to common gcode
+  commands. It would be useful to support high-level commands such as
+  "query_endstops", "pid_autotune", and "help" instead of having to
+  invent cryptic gcode commands (eg, "M119" and "M303").
+
+* Provide a better way to handle print nozzle z offsets. The M206
+  command is cryptic to use and it is too easy to set the value
+  incorrectly or to forget to set it.
+
+* Provide a way to temporarily disable endstop checks so that a user
+  can issue commands that potentially move the head past
+  position_min/position_max.
+
+* Implement timeouts on homing. The host currently waits forever if
+  an endstop is not hit during a homing operation.
+
+* Allow loading of a new config without having to restart the mcu.
+
+* Possibly rework the startup order of Klippy communication with
+  octoprint and the mcu. Currently Klippy only starts communication
+  with Octoprint after it connects with the firmware. However, this
+  limits the ability for Klippy to communicate connection errors to
+  the user. It also makes it difficult for Klippy to reconnect to the
+  firmware and/or restart the firmware if it needs to.
+
+* Automatically roll Klippy log files. The default log file should
+  have the current date in the log file name.
+
+* Report the Klippy git version in log file.
+
+* Possibly collate and report the statistics messages in the log in a
+  more friendly way.
+
+Safety features
+===============
+
+* Support loading a valid step range into the firmware after
+  homing. This would provide a sanity check in the firmware that would
+  reduce the risk of the host commanding a stepper motor past its
+  valid step range. To maintain high efficiency in the firmware, the
+  firmware would only need to check periodically (eg, every 100ms)
+  that the stepper is in range.
+
+ * Possibly support periodically querying the endstop switches and use
+   multiple step ranges depending on the switch state. This would
+   enable runtime endstop detection. (However, it's unclear if runtime
+   endstop detection is a good idea because of spurious signals caused
+   by electrical noise.)
+
+* Support validating that heaters are heating at expected rates. This
+  can be useful to detect a sensor failure (eg, thermistor short) that
+  could otherwise cause the PID to command excessive heating.
+
+* Possibly implement host based checking on the ratio between extrude
+  amount and head movement.
+ * Enforce acceleration and speed limits on extruder stepper motor.
+
+Testing features
+================
+
+* Complete the host based simulator. It's possible to compile the
+  firmware for a "host simulator", but that simulator doesn't do
+  anything currently. It would be useful to expand the code to support
+  more error checks, kinematic simulations, and improved logging.
+
+Documentation
+=============
+
+* Document and test running the host software on a Beagle Bone Black.
+
+* Add documentation describing how to perform bed-leveling accurately
+  in Klipper. Improve description of stepper phase based bed leveling.
+
+* Document the kinematic formulas in Klippy. Document how acceleration
+  and jerk limits are enforced.
+
+* Document the host/firmware communication protocol.
+
+* Document how one can tune the pressure advance setting.
+
+Hardware features
+=================
+
+* Support ADC on Arduino Due.
+
+* Port firmware to more architectures:
+ * Beagle Bone Black PRU
+ * Smoothieboard / NXP LPC1769 (ARM cortex-M3)
+ * Unix based scheduling; Unix based real-time scheduling
+
+* Support for additional kinematics: delta, scara, corexy, etc.
+
+* Support shared motor enable GPIO lines.
+
+* Support for multiple extruders.
+
+* Support for bed-level probes.
+
+* Possible support for touch panels attached to the micro-controller.
+  (In general, it would be preferable to attach touch panels to the
+  host system and have octoprint interact with the panel directly, but
+  it would also be useful to handle panels already hardwired to the
+  micro-controller.)
+
+* The raspberry pi has the ability to cut power to its USB ports. This
+  feature is useful for resetting micro-controllers that are powered
+  over USB. It would be useful to have a high-level command interface
+  in Klippy to request a micro-controller reset via this mechanism.
+
+* Possibly support printers using multiple micro-controllers.
+
+Misc features
+=============
+
+* The "pressure advance" algorithm does improve extruder
+  functionality. However, it's interaction with lookahead is not ideal
+  as it can cause rapid jerks of the filament when the head speed
+  changes briefly during cornering. Ideally, pressure advance would
+  interact better with lookahead to avoid advance during transient
+  speed changes.
+
+* Possibly use cubic functions instead of quadratic functions in step
+  compression code.
+
+* Possibly support a "feed forward PID" that takes into account the
+  amount of plastic being extruded. If the extrude rate changes
+  significantly during a print it can cause heating bumps that the PID
+  overcompensates for. The temperature change due to the extrusion
+  rate could be modeled to eliminate these bumps and make the
+  extrusion temperature more consistent.