diff --git a/ArmGCC47.bat b/ArmGCC47.bat
new file mode 100644
index 0000000..d5110d7
--- /dev/null
+++ b/ArmGCC47.bat
@@ -0,0 +1,6 @@
+@echo off
+rem This file is the script to set path for ARM eabi tool chain.
+
+rem set PATH=C:\Program Files (x86)\GNU Tools ARM Embedded\4.7 2012q4\bin;%PATH%
+set PATH=C:\Program Files (x86)\GNU Tools ARM Embedded\4.7 2013q2\bin;%PATH%
+start
diff --git a/FlashDFUSe.bat b/FlashDFUSe.bat
new file mode 100644
index 0000000..25a0fe4
--- /dev/null
+++ b/FlashDFUSe.bat
@@ -0,0 +1,26 @@
+@echo off
+set filename=%1%
+set FLASHTOOL=setup\dfu-util-static.exe
+
+if "%filename%" == "" set filename=out\STM32Gimbal.USB.bin
+
+echo taking board into boot mode ...
+REM boot loader hack by ala42
+REM let dfu-util talk to the USB VCP address. This is detected by the VCP handler
+REM which takes the board into the boot loader
+%FLASHTOOL% --device 0483:5740 -D dummyname 2>1 >nul
+call :sleep 4
+
+echo starting upload ...
+echo.
+:loop
+  %FLASHTOOL% --reset --device 1eaf:0003 --alt 1 --download %filename% && goto :end
+  call :sleep 2
+  goto :loop
+
+:sleep
+  ping -n %1 localhost >nul
+  goto :EOF
+
+:end
+  pause
diff --git a/FlashV2.bat b/FlashV2.bat
new file mode 100644
index 0000000..443b382
--- /dev/null
+++ b/FlashV2.bat
@@ -0,0 +1,11 @@
+@echo off
+set flasher="%ProgramFiles%\STMicroelectronics\STM32 ST-LINK Utility\ST-LINK Utility\ST-LINK_CLI.exe"
+if exist %flasher% goto :flash
+set flasher="%ProgramFiles(x86)%\STMicroelectronics\STM32 ST-LINK Utility\ST-LINK Utility\ST-LINK_CLI.exe"
+
+:flash
+set filename=%1%
+if "%filename%" == "" set filename=out\STM32Gimbal.bin
+
+%flasher% -c SWD -P %filename% 0x08004000 -V -Rst
+pause
\ No newline at end of file
diff --git a/FlashV2_LowMem.bat b/FlashV2_LowMem.bat
new file mode 100644
index 0000000..2133838
--- /dev/null
+++ b/FlashV2_LowMem.bat
@@ -0,0 +1,11 @@
+@echo off
+set flasher="%ProgramFiles%\STMicroelectronics\STM32 ST-LINK Utility\ST-LINK Utility\ST-LINK_CLI.exe"
+if exist %flasher% goto :flash
+set flasher="%ProgramFiles(x86)%\STMicroelectronics\STM32 ST-LINK Utility\ST-LINK Utility\ST-LINK_CLI.exe"
+
+:flash
+set filename=%1%
+if "%filename%" == "" set filename=out\STM32Gimbal.bin
+
+%flasher% -c SWD -P %filename% 0x08000000 -V -Rst
+pause
\ No newline at end of file
diff --git a/GUI/EvvGC_GUI_v0_4/EvvGC_GUI_v0_4.pde b/GUI/EvvGC_GUI_v0_4/EvvGC_GUI_v0_4.pde
index a48161f..209bd08 100644
--- a/GUI/EvvGC_GUI_v0_4/EvvGC_GUI_v0_4.pde
+++ b/GUI/EvvGC_GUI_v0_4/EvvGC_GUI_v0_4.pde
@@ -54,8 +54,8 @@ boolean writeEnable = false;
 boolean readEnable = false;
 boolean printlist = true;
 boolean portopen = false;
-char RCcontrol = '0'; 
-char YawRCon = '0'; 
+char RCcontrol = '0';
+char YawRCon = '0';
 String readStatus = "";
 String Version = "0.4.1.1";
 
@@ -68,21 +68,21 @@ controlP5.Controller hideLabel(controlP5.Controller c) {
 
 void setup()
 {
-  
+
   size(600, 280);
   background(75);
-  
+
   textSize(28);
   fill(0, 120, 170);//blue
   text("EvvGC GUI",20,50); text(Version, 170,50);
- 
- 
+
+
   // Define colors
   b1 = color(80);
   b2 = color(60);
   c1 = color(80, 80, 80);
   c2 = color(60, 61, 59);
-  
+
   controlP5 = new ControlP5(this); // initialize the GUI controls
 
   //List all the available serial ports:
@@ -93,8 +93,8 @@ void setup()
   commListMax = -1;
   for(int i=0;i<Serial.list().length;i++) {
     commListMax = i;
-  }  
-  
+  }
+
 
 
   /******************************PID cells*************************************************************/
@@ -137,20 +137,20 @@ void setup()
   /****************************Buttons*********************************************************************/
    buttonWRITE =     controlP5.addButton("WRITE",1,500,248,60,20);buttonWRITE.setColorBackground(gray_);
    buttonREAD =     controlP5.addButton("READ",1,40,248,60,20);buttonREAD.setColorBackground(gray_);
-   
+
    buttonCONFon =     controlP5.addButton("CONFIGon",1,400,10,60,60);buttonCONFon.setColorBackground(gray_);
    buttonCONFoff =     controlP5.addButton("CONFIGoff",1,330,10,60,60);buttonCONFoff.setColorBackground(gray_);
-   
+
    buttonP0 =     controlP5.addButton("P0",1,490, 5,20,20);buttonP0.setColorBackground(gray_);
    buttonP1 =     controlP5.addButton("P1",1,490,30,20,20);buttonP1.setColorBackground(gray_);
    buttonP2 =     controlP5.addButton("P2",1,490,55,20,20);buttonP2.setColorBackground(gray_);
-   
+
    buttonRCOff  =     controlP5.addButton("RC_OFF",1,450,122,65,20);buttonRCOff.setColorBackground(gray_);
    buttonRCOn   =     controlP5.addButton("RC_ON",1,450,100,65,20);buttonRCOn.setColorBackground(gray_);
-   
+
    buttonYawRC  =     controlP5.addButton("Yaw_RC_Pan",1,520,100,75,20);buttonYawRC.setColorBackground(gray_);
    buttonYawAut =     controlP5.addButton("Yaw_Auto_Pan",1,520,122,75,20);buttonYawAut.setColorBackground(gray_);
-   
+
    buttonCONFoff.setColorBackground(green_);
 
 }
@@ -159,56 +159,56 @@ void draw() {
   //String Serial.list()[];
   //size(600, 280);
   //background(80);
- 
+
   fill(70); strokeWeight(0);stroke(35); //75
   rect(0, 80, 600, 155, 0);
-  
+
   fill(70); strokeWeight(0);stroke(35);
   rect(440, 80, 600, 155, 0);
-  
+
   fill(75); strokeWeight(0);stroke(80);
   rect(0, 240, 600, 100, 0);
 
-  
+
   fill(255);
-  
+
   // Background
  // setGradient(0, 0, width, 80, c2, c1, Y_AXIS);
 
 
-  
+
   textSize(12);
   text("Pitch P:",35,112);
   textSize(12);
   text("Pitch D:",155,112);
-  
+
   textSize(12);
   text("Roll P:",38,162);
   textSize(12);
   text("Roll D:",158,162);
-  
+
   textSize(12);
   text("Yaw P:",38,211);
   textSize(12);
   text("Yaw D:",158,211);
-  
-  
+
+
   textSize(12);
   text("Pitch Power:             %",301,112);
   textSize(12);
   text("Roll Power:             %",307,162);
   textSize(12);
   text("Yaw Power:             %",305,212);
-  
+
   textSize(12);
   text("Roll Calibration (degr.)",460,190);
-  
+
    textSize(16);
   //fill(0, 102, 153, 204);
  // text("Connected to:",400,45); text(Serial.list()[0],515,45);
  // text("Connected to:",400,45); text(Serial.list()[1],515,65);
   //text("Connected to:",400,45); text(Serial.list()[2],515,65);
-  
+
 
     if(printlist==true){
       for(int i=0;i<=commListMax;i++) {
@@ -219,36 +219,36 @@ void draw() {
 
     textSize(12);
     text(readStatus,110,263);
-    
-    
-    
-    
+
+
+
+
     if(PitchP.value()==0)PitchP.setValue(0.01);
     if(RollP.value()==0)RollP.setValue(0.01);
     if(YawP.value()==0)YawP.setValue(0.01);
-    
+
     if(PitchD.value()==0)PitchD.setValue(0.01);
     if(RollD.value()==0)RollD.setValue(0.01);
     if(YawD.value()==0)YawD.setValue(0.01);
-    
+
     if(PitchPWR.value()==0)PitchPWR.setValue(1);
     if(RollPWR.value()==0)RollPWR.setValue(1);
     if(YawPWR.value()==0)YawPWR.setValue(1);
-    
+
     //if(RollCal.value()==-9.9)RollCal.setValue(-9.9);
- 
+
 }
 
 
 public void WRITE() {
   if(writeEnable == false) return;
 
-  myPort.write("h"); 
-  
+  myPort.write("h");
+
   myPort.write (int (PitchP.value()*100));
   myPort.write (int (RollP.value()*100));
   myPort.write (int (YawP.value()*100));
-  
+
   myPort.write (int (PitchD.value()*100));
   myPort.write (int (RollD.value()*100));
   myPort.write (int (YawD.value()*100));
@@ -256,14 +256,14 @@ public void WRITE() {
   myPort.write (int (PitchPWR.value()));
   myPort.write (int (RollPWR.value()));
   myPort.write (int (YawPWR.value()));
-  
+
   myPort.write (RCcontrol);
   myPort.write (YawRCon);
-  
+
   myPort.write (int (RollCal.value()*10+100));
   //println (RollCal.value());
   //println (int (RollCal.value()*10+100));
- 
+
  readStatus = "Write OK";
 
 }
@@ -284,7 +284,7 @@ if(myPort.read()=='x'){
 PitchP.setValue(myPort.read()/100.00);
 RollP.setValue(myPort.read()/100.00);
 YawP.setValue(myPort.read()/100.00);
-  
+
 PitchD.setValue(myPort.read()/100.00);
 RollD.setValue(myPort.read()/100.00);
 YawD.setValue(myPort.read()/100.00);
@@ -336,7 +336,7 @@ public void CONFIGoff() {
 }
 
 public void P0() {
-  
+
   buttonP0.setColorBackground(green_);
   buttonP1.setColorBackground(gray_);
   buttonP2.setColorBackground(gray_);
@@ -407,6 +407,6 @@ public void ZERO() {
 
 
 
-  
+
 
 
diff --git a/GUI/EvvGC_GUI_v0_4/application.windows32/lib/EvvGC_GUI_v0_4.jar b/GUI/EvvGC_GUI_v0_4/application.windows32/lib/EvvGC_GUI_v0_4.jar
index 3ffcf3c..9a31664 100644
Binary files a/GUI/EvvGC_GUI_v0_4/application.windows32/lib/EvvGC_GUI_v0_4.jar and b/GUI/EvvGC_GUI_v0_4/application.windows32/lib/EvvGC_GUI_v0_4.jar differ
diff --git a/GUI/EvvGC_GUI_v0_4/application.windows32/source/EvvGC_GUI_v0_4.java b/GUI/EvvGC_GUI_v0_4/application.windows32/source/EvvGC_GUI_v0_4.java
index f41a53c..c07d5ae 100644
--- a/GUI/EvvGC_GUI_v0_4/application.windows32/source/EvvGC_GUI_v0_4.java
+++ b/GUI/EvvGC_GUI_v0_4/application.windows32/source/EvvGC_GUI_v0_4.java
@@ -74,10 +74,10 @@ public class EvvGC_GUI_v0_4 extends PApplet {
 boolean readEnable = false;
 boolean printlist = true;
 boolean portopen = false;
-char RCcontrol = '0'; 
-char YawRCon = '0'; 
+char RCcontrol = '0';
+char YawRCon = '0';
 String readStatus = "";
-String Version = "0.4.1";
+String Version = "0.4.1.1";
 
 public controlP5.Controller hideLabel(controlP5.Controller c) {
   c.setLabel("");
@@ -88,21 +88,21 @@ public controlP5.Controller hideLabel(controlP5.Controller c) {
 
 public void setup()
 {
-  
+
   size(600, 280);
   background(75);
-  
+
   textSize(28);
   fill(0, 120, 170);//blue
   text("EvvGC GUI",20,50); text(Version, 170,50);
- 
- 
+
+
   // Define colors
   b1 = color(80);
   b2 = color(60);
   c1 = color(80, 80, 80);
   c2 = color(60, 61, 59);
-  
+
   controlP5 = new ControlP5(this); // initialize the GUI controls
 
   //List all the available serial ports:
@@ -110,10 +110,11 @@ public void setup()
 
 
 
+  commListMax = -1;
   for(int i=0;i<Serial.list().length;i++) {
     commListMax = i;
-  }  
-  
+  }
+
 
 
   /******************************PID cells*************************************************************/
@@ -156,20 +157,20 @@ public void setup()
   /****************************Buttons*********************************************************************/
    buttonWRITE =     controlP5.addButton("WRITE",1,500,248,60,20);buttonWRITE.setColorBackground(gray_);
    buttonREAD =     controlP5.addButton("READ",1,40,248,60,20);buttonREAD.setColorBackground(gray_);
-   
+
    buttonCONFon =     controlP5.addButton("CONFIGon",1,400,10,60,60);buttonCONFon.setColorBackground(gray_);
    buttonCONFoff =     controlP5.addButton("CONFIGoff",1,330,10,60,60);buttonCONFoff.setColorBackground(gray_);
-   
+
    buttonP0 =     controlP5.addButton("P0",1,490, 5,20,20);buttonP0.setColorBackground(gray_);
    buttonP1 =     controlP5.addButton("P1",1,490,30,20,20);buttonP1.setColorBackground(gray_);
    buttonP2 =     controlP5.addButton("P2",1,490,55,20,20);buttonP2.setColorBackground(gray_);
-   
+
    buttonRCOff  =     controlP5.addButton("RC_OFF",1,450,122,65,20);buttonRCOff.setColorBackground(gray_);
    buttonRCOn   =     controlP5.addButton("RC_ON",1,450,100,65,20);buttonRCOn.setColorBackground(gray_);
-   
+
    buttonYawRC  =     controlP5.addButton("Yaw_RC_Pan",1,520,100,75,20);buttonYawRC.setColorBackground(gray_);
    buttonYawAut =     controlP5.addButton("Yaw_Auto_Pan",1,520,122,75,20);buttonYawAut.setColorBackground(gray_);
-   
+
    buttonCONFoff.setColorBackground(green_);
 
 }
@@ -178,56 +179,56 @@ public void draw() {
   //String Serial.list()[];
   //size(600, 280);
   //background(80);
- 
+
   fill(70); strokeWeight(0);stroke(35); //75
   rect(0, 80, 600, 155, 0);
-  
+
   fill(70); strokeWeight(0);stroke(35);
   rect(440, 80, 600, 155, 0);
-  
+
   fill(75); strokeWeight(0);stroke(80);
   rect(0, 240, 600, 100, 0);
 
-  
+
   fill(255);
-  
+
   // Background
  // setGradient(0, 0, width, 80, c2, c1, Y_AXIS);
 
 
-  
+
   textSize(12);
   text("Pitch P:",35,112);
   textSize(12);
   text("Pitch D:",155,112);
-  
+
   textSize(12);
   text("Roll P:",38,162);
   textSize(12);
   text("Roll D:",158,162);
-  
+
   textSize(12);
   text("Yaw P:",38,211);
   textSize(12);
   text("Yaw D:",158,211);
-  
-  
+
+
   textSize(12);
   text("Pitch Power:             %",301,112);
   textSize(12);
   text("Roll Power:             %",307,162);
   textSize(12);
   text("Yaw Power:             %",305,212);
-  
+
   textSize(12);
   text("Roll Calibration (degr.)",460,190);
-  
+
    textSize(16);
   //fill(0, 102, 153, 204);
  // text("Connected to:",400,45); text(Serial.list()[0],515,45);
  // text("Connected to:",400,45); text(Serial.list()[1],515,65);
   //text("Connected to:",400,45); text(Serial.list()[2],515,65);
-  
+
 
     if(printlist==true){
       for(int i=0;i<=commListMax;i++) {
@@ -238,36 +239,36 @@ public void draw() {
 
     textSize(12);
     text(readStatus,110,263);
-    
-    
-    
-    
+
+
+
+
     if(PitchP.value()==0)PitchP.setValue(0.01f);
     if(RollP.value()==0)RollP.setValue(0.01f);
     if(YawP.value()==0)YawP.setValue(0.01f);
-    
+
     if(PitchD.value()==0)PitchD.setValue(0.01f);
     if(RollD.value()==0)RollD.setValue(0.01f);
     if(YawD.value()==0)YawD.setValue(0.01f);
-    
+
     if(PitchPWR.value()==0)PitchPWR.setValue(1);
     if(RollPWR.value()==0)RollPWR.setValue(1);
     if(YawPWR.value()==0)YawPWR.setValue(1);
-    
+
     //if(RollCal.value()==-9.9)RollCal.setValue(-9.9);
- 
+
 }
 
 
 public void WRITE() {
   if(writeEnable == false) return;
 
-  myPort.write("h"); 
-  
+  myPort.write("h");
+
   myPort.write (PApplet.parseInt (PitchP.value()*100));
   myPort.write (PApplet.parseInt (RollP.value()*100));
   myPort.write (PApplet.parseInt (YawP.value()*100));
-  
+
   myPort.write (PApplet.parseInt (PitchD.value()*100));
   myPort.write (PApplet.parseInt (RollD.value()*100));
   myPort.write (PApplet.parseInt (YawD.value()*100));
@@ -275,14 +276,14 @@ public void WRITE() {
   myPort.write (PApplet.parseInt (PitchPWR.value()));
   myPort.write (PApplet.parseInt (RollPWR.value()));
   myPort.write (PApplet.parseInt (YawPWR.value()));
-  
+
   myPort.write (RCcontrol);
   myPort.write (YawRCon);
-  
+
   myPort.write (PApplet.parseInt (RollCal.value()*10+100));
   //println (RollCal.value());
   //println (int (RollCal.value()*10+100));
- 
+
  readStatus = "Write OK";
 
 }
@@ -303,7 +304,7 @@ public void READ() {
 PitchP.setValue(myPort.read()/100.00f);
 RollP.setValue(myPort.read()/100.00f);
 YawP.setValue(myPort.read()/100.00f);
-  
+
 PitchD.setValue(myPort.read()/100.00f);
 RollD.setValue(myPort.read()/100.00f);
 YawD.setValue(myPort.read()/100.00f);
@@ -355,7 +356,7 @@ public void CONFIGoff() {
 }
 
 public void P0() {
-  
+
   buttonP0.setColorBackground(green_);
   buttonP1.setColorBackground(gray_);
   buttonP2.setColorBackground(gray_);
@@ -426,7 +427,7 @@ public void ZERO() {
 
 
 
-  
+
 
 
   static public void main(String[] passedArgs) {
diff --git a/GUI/EvvGC_GUI_v0_4/application.windows32/source/EvvGC_GUI_v0_4.pde b/GUI/EvvGC_GUI_v0_4/application.windows32/source/EvvGC_GUI_v0_4.pde
index 1942f85..209bd08 100644
--- a/GUI/EvvGC_GUI_v0_4/application.windows32/source/EvvGC_GUI_v0_4.pde
+++ b/GUI/EvvGC_GUI_v0_4/application.windows32/source/EvvGC_GUI_v0_4.pde
@@ -54,10 +54,10 @@ boolean writeEnable = false;
 boolean readEnable = false;
 boolean printlist = true;
 boolean portopen = false;
-char RCcontrol = '0'; 
-char YawRCon = '0'; 
+char RCcontrol = '0';
+char YawRCon = '0';
 String readStatus = "";
-String Version = "0.4.1";
+String Version = "0.4.1.1";
 
 controlP5.Controller hideLabel(controlP5.Controller c) {
   c.setLabel("");
@@ -68,21 +68,21 @@ controlP5.Controller hideLabel(controlP5.Controller c) {
 
 void setup()
 {
-  
+
   size(600, 280);
   background(75);
-  
+
   textSize(28);
   fill(0, 120, 170);//blue
   text("EvvGC GUI",20,50); text(Version, 170,50);
- 
- 
+
+
   // Define colors
   b1 = color(80);
   b2 = color(60);
   c1 = color(80, 80, 80);
   c2 = color(60, 61, 59);
-  
+
   controlP5 = new ControlP5(this); // initialize the GUI controls
 
   //List all the available serial ports:
@@ -90,10 +90,11 @@ void setup()
 
 
 
+  commListMax = -1;
   for(int i=0;i<Serial.list().length;i++) {
     commListMax = i;
-  }  
-  
+  }
+
 
 
   /******************************PID cells*************************************************************/
@@ -136,20 +137,20 @@ void setup()
   /****************************Buttons*********************************************************************/
    buttonWRITE =     controlP5.addButton("WRITE",1,500,248,60,20);buttonWRITE.setColorBackground(gray_);
    buttonREAD =     controlP5.addButton("READ",1,40,248,60,20);buttonREAD.setColorBackground(gray_);
-   
+
    buttonCONFon =     controlP5.addButton("CONFIGon",1,400,10,60,60);buttonCONFon.setColorBackground(gray_);
    buttonCONFoff =     controlP5.addButton("CONFIGoff",1,330,10,60,60);buttonCONFoff.setColorBackground(gray_);
-   
+
    buttonP0 =     controlP5.addButton("P0",1,490, 5,20,20);buttonP0.setColorBackground(gray_);
    buttonP1 =     controlP5.addButton("P1",1,490,30,20,20);buttonP1.setColorBackground(gray_);
    buttonP2 =     controlP5.addButton("P2",1,490,55,20,20);buttonP2.setColorBackground(gray_);
-   
+
    buttonRCOff  =     controlP5.addButton("RC_OFF",1,450,122,65,20);buttonRCOff.setColorBackground(gray_);
    buttonRCOn   =     controlP5.addButton("RC_ON",1,450,100,65,20);buttonRCOn.setColorBackground(gray_);
-   
+
    buttonYawRC  =     controlP5.addButton("Yaw_RC_Pan",1,520,100,75,20);buttonYawRC.setColorBackground(gray_);
    buttonYawAut =     controlP5.addButton("Yaw_Auto_Pan",1,520,122,75,20);buttonYawAut.setColorBackground(gray_);
-   
+
    buttonCONFoff.setColorBackground(green_);
 
 }
@@ -158,56 +159,56 @@ void draw() {
   //String Serial.list()[];
   //size(600, 280);
   //background(80);
- 
+
   fill(70); strokeWeight(0);stroke(35); //75
   rect(0, 80, 600, 155, 0);
-  
+
   fill(70); strokeWeight(0);stroke(35);
   rect(440, 80, 600, 155, 0);
-  
+
   fill(75); strokeWeight(0);stroke(80);
   rect(0, 240, 600, 100, 0);
 
-  
+
   fill(255);
-  
+
   // Background
  // setGradient(0, 0, width, 80, c2, c1, Y_AXIS);
 
 
-  
+
   textSize(12);
   text("Pitch P:",35,112);
   textSize(12);
   text("Pitch D:",155,112);
-  
+
   textSize(12);
   text("Roll P:",38,162);
   textSize(12);
   text("Roll D:",158,162);
-  
+
   textSize(12);
   text("Yaw P:",38,211);
   textSize(12);
   text("Yaw D:",158,211);
-  
-  
+
+
   textSize(12);
   text("Pitch Power:             %",301,112);
   textSize(12);
   text("Roll Power:             %",307,162);
   textSize(12);
   text("Yaw Power:             %",305,212);
-  
+
   textSize(12);
   text("Roll Calibration (degr.)",460,190);
-  
+
    textSize(16);
   //fill(0, 102, 153, 204);
  // text("Connected to:",400,45); text(Serial.list()[0],515,45);
  // text("Connected to:",400,45); text(Serial.list()[1],515,65);
   //text("Connected to:",400,45); text(Serial.list()[2],515,65);
-  
+
 
     if(printlist==true){
       for(int i=0;i<=commListMax;i++) {
@@ -218,36 +219,36 @@ void draw() {
 
     textSize(12);
     text(readStatus,110,263);
-    
-    
-    
-    
+
+
+
+
     if(PitchP.value()==0)PitchP.setValue(0.01);
     if(RollP.value()==0)RollP.setValue(0.01);
     if(YawP.value()==0)YawP.setValue(0.01);
-    
+
     if(PitchD.value()==0)PitchD.setValue(0.01);
     if(RollD.value()==0)RollD.setValue(0.01);
     if(YawD.value()==0)YawD.setValue(0.01);
-    
+
     if(PitchPWR.value()==0)PitchPWR.setValue(1);
     if(RollPWR.value()==0)RollPWR.setValue(1);
     if(YawPWR.value()==0)YawPWR.setValue(1);
-    
+
     //if(RollCal.value()==-9.9)RollCal.setValue(-9.9);
- 
+
 }
 
 
 public void WRITE() {
   if(writeEnable == false) return;
 
-  myPort.write("h"); 
-  
+  myPort.write("h");
+
   myPort.write (int (PitchP.value()*100));
   myPort.write (int (RollP.value()*100));
   myPort.write (int (YawP.value()*100));
-  
+
   myPort.write (int (PitchD.value()*100));
   myPort.write (int (RollD.value()*100));
   myPort.write (int (YawD.value()*100));
@@ -255,14 +256,14 @@ public void WRITE() {
   myPort.write (int (PitchPWR.value()));
   myPort.write (int (RollPWR.value()));
   myPort.write (int (YawPWR.value()));
-  
+
   myPort.write (RCcontrol);
   myPort.write (YawRCon);
-  
+
   myPort.write (int (RollCal.value()*10+100));
   //println (RollCal.value());
   //println (int (RollCal.value()*10+100));
- 
+
  readStatus = "Write OK";
 
 }
@@ -283,7 +284,7 @@ if(myPort.read()=='x'){
 PitchP.setValue(myPort.read()/100.00);
 RollP.setValue(myPort.read()/100.00);
 YawP.setValue(myPort.read()/100.00);
-  
+
 PitchD.setValue(myPort.read()/100.00);
 RollD.setValue(myPort.read()/100.00);
 YawD.setValue(myPort.read()/100.00);
@@ -335,7 +336,7 @@ public void CONFIGoff() {
 }
 
 public void P0() {
-  
+
   buttonP0.setColorBackground(green_);
   buttonP1.setColorBackground(gray_);
   buttonP2.setColorBackground(gray_);
@@ -406,6 +407,6 @@ public void ZERO() {
 
 
 
-  
+
 
 
diff --git a/ListDFUSeDevices.bat b/ListDFUSeDevices.bat
new file mode 100644
index 0000000..1561576
--- /dev/null
+++ b/ListDFUSeDevices.bat
@@ -0,0 +1,2 @@
+..\tools\dfu-util.exe -l
+pause
diff --git a/Makefile b/Makefile
index f93fc0d..740d418 100644
--- a/Makefile
+++ b/Makefile
@@ -27,12 +27,14 @@ RM = rm -f
 
 # project name
 PROJECT = STM32Gimbal
+PROJECT_USB = $(PROJECT).USB
 
 # core type
 CORE = cortex-m3
 
 # linker script
 LD_SCRIPT = stm32_flash.ld
+LD_USB_SCRIPT = stm32_flash_usb.ld
 
 # output folder (absolute or relative path, leave empty for in-tree compilation)
 OUT_DIR = out
@@ -151,10 +153,12 @@ AS_FLAGS = -Wa,-amhls=$(OUT_DIR_F)$(notdir $(<:.$(AS_EXT)=.lst))
 
 # flags for linker
 LD_FLAGS = -T$(LD_SCRIPT) -g -Wl,-Map=$(OUT_DIR_F)$(PROJECT).map,--cref,--no-warn-mismatch
+LD_USB_FLAGS = -T$(LD_USB_SCRIPT) -g -Wl,-Map=$(OUT_DIR_F)$(PROJECT_USB).map,--cref,--no-warn-mismatch
 
 # process option for removing unused code
 ifeq ($(REMOVE_UNUSED), 1)
 	LD_FLAGS += -Wl,--gc-sections
+	LD_USB_FLAGS += -Wl,--gc-sections
 	OPTIMIZATION += -ffunction-sections -fdata-sections
 endif
 
@@ -165,6 +169,7 @@ ifeq ($(USES_CXX), 1)
 	AS_DEFS += -D__USES_CXX
 else
 	LD_FLAGS += -nostartfiles
+	LD_USB_FLAGS += -nostartfiles
 endif
 
 #=============================================================================#
@@ -185,11 +190,19 @@ BIN = $(OUT_DIR_F)$(PROJECT).bin
 LSS = $(OUT_DIR_F)$(PROJECT).lss
 DMP = $(OUT_DIR_F)$(PROJECT).dmp
 
+USBELF = $(OUT_DIR_F)$(PROJECT_USB).elf
+USBHEX = $(OUT_DIR_F)$(PROJECT_USB).hex
+USBBIN = $(OUT_DIR_F)$(PROJECT_USB).bin
+USBLSS = $(OUT_DIR_F)$(PROJECT_USB).lss
+USBDMP = $(OUT_DIR_F)$(PROJECT_USB).dmp
+
+
 # format final flags for tools, request dependancies for C++, C and asm
 CXX_FLAGS_F = $(CORE_FLAGS) $(OPTIMIZATION) $(CXX_WARNINGS) $(CXX_FLAGS)  $(CXX_DEFS) -MD -MP -MF $(OUT_DIR_F)$(@F:.o=.d) $(INC_DIRS_F)
 C_FLAGS_F = $(CORE_FLAGS) $(OPTIMIZATION) $(C_WARNINGS) $(C_FLAGS) $(C_DEFS) -MD -MP -MF $(OUT_DIR_F)$(@F:.o=.d) $(INC_DIRS_F)
 AS_FLAGS_F = $(CORE_FLAGS) $(AS_FLAGS) $(AS_DEFS) -MD -MP -MF $(OUT_DIR_F)$(@F:.o=.d) $(INC_DIRS_F)
 LD_FLAGS_F = $(CORE_FLAGS) $(LD_FLAGS) $(LIB_DIRS_F)
+LD_USB_FLAGS_F = $(CORE_FLAGS) $(LD_USB_FLAGS) $(LIB_DIRS_F)
 
 #contents of output directory
 GENERATED = $(wildcard $(patsubst %, $(OUT_DIR_F)*.%, bin d dmp elf hex lss lst map o))
@@ -198,22 +211,34 @@ GENERATED = $(wildcard $(patsubst %, $(OUT_DIR_F)*.%, bin d dmp elf hex lss lst
 # make all
 #=============================================================================#
 
-all : make_output_dir $(ELF) $(LSS) $(DMP) $(HEX) $(BIN) print_size
+#all : make_output_dir $(ELF) $(LSS) $(DMP) $(HEX) $(BIN) print_size
+all: make_output_dir $(ELF) $(LSS) $(DMP) $(HEX) $(BIN) $(USBELF) $(USBLSS) $(USBBIN) print_size \
+#					$(USBELF) $(USBLSS) $(USBBIN
 
 # make object files dependent on Makefile
 #$(OBJS) : Makefile
 # make .elf file dependent on linker script
 $(ELF) : $(LD_SCRIPT)
+$(USBELF) : $(LD_USB_SCRIPT)
 
 #-----------------------------------------------------------------------------#
 # linking - objects -> elf
 #-----------------------------------------------------------------------------#
 
-$(ELF) : $(OBJS)
+$(ELF) : $(OBJS)  $(LD_SCRIPT)
 	@echo 'Linking target: $(ELF)'
 	$(CXX) $(LD_FLAGS_F) $(OBJS) $(LIBS) -o $@
 	@echo ' '
 
+#-----------------------------------------------------------------------------#
+# linking - objects -> elf, USB version
+#-----------------------------------------------------------------------------#
+
+$(USBELF) : $(ELF) $(OBJS) $(LD_USB_SCRIPT)
+	@echo 'Linking target: $(USBELF)'
+	$(CXX) $(LD_USB_FLAGS_F) $(OBJS) $(LIBS) -o $@
+	@echo ' '
+	
 #-----------------------------------------------------------------------------#
 # compiling - C++ source -> objects
 #-----------------------------------------------------------------------------#
@@ -254,6 +279,11 @@ $(BIN) : $(ELF)
 	@echo 'Creating binary image: $(BIN)'
 	$(OBJCOPY) -O binary $< $@
 	@echo ' '
+	
+$(USBBIN) : $(USBELF)
+	@echo 'Creating binary image: $(USBBIN)'
+	$(OBJCOPY) -O binary $< $@
+	@echo ' '	
 
 #-----------------------------------------------------------------------------#
 # memory dump - elf -> dmp
@@ -273,11 +303,16 @@ $(LSS) : $(ELF)
 	$(OBJDUMP) -S $< > $@
 	@echo ' '
 
+	
+$(USBLSS) : $(USBELF)
+	@echo 'Creating extended listing: $(USBLSS)'
+	$(OBJDUMP) -S $< > $@
+	@echo ' '	
 #-----------------------------------------------------------------------------#
 # print the size of the objects and the .elf file
 #-----------------------------------------------------------------------------#
 
-print_size :
+print_size: $(OBJS) $(ELF)
 	-#@echo 'Size of modules:'
 	-#$(SIZE) -B -t --common $(OBJS) $(USER_OBJS)
 	-#@echo ' '
diff --git a/bootloader/maple_boot.bin b/bootloader/maple_boot.bin
new file mode 100644
index 0000000..858176b
Binary files /dev/null and b/bootloader/maple_boot.bin differ
diff --git a/built-versions/0.4/STM32Gimbal.USB.bin b/built-versions/0.4/STM32Gimbal.USB.bin
new file mode 100644
index 0000000..16c1a1d
Binary files /dev/null and b/built-versions/0.4/STM32Gimbal.USB.bin differ
diff --git a/built-versions/0.4/STM32Gimbal.bin b/built-versions/0.4/STM32Gimbal.bin
new file mode 100644
index 0000000..e7818f8
Binary files /dev/null and b/built-versions/0.4/STM32Gimbal.bin differ
diff --git a/built-versions/0.4/STM32Gimbal.hex b/built-versions/0.4/STM32Gimbal.hex
index dad0957..2f16e09 100644
--- a/built-versions/0.4/STM32Gimbal.hex
+++ b/built-versions/0.4/STM32Gimbal.hex
@@ -1,22 +1,22 @@
 :020000040800F2
-:1000000000C00020A9160008415600084556000807
-:10001000495600084D5600085156000800000000DF
-:10002000000000000000000000000000555600081D
-:1000300059560008000000005D560008C558000829
+:1000000000C00020A9160008295600082D56000837
+:100010003156000835560008395600080000000027
+:100020000000000000000000000000003D56000835
+:10003000415600080000000045560008AD58000871
 :10004000F9160008F9160008F9160008F916000854
 :10005000F9160008F9160008F9160008F916000844
-:1000600041510008A1500008E1510008F9160008AC
+:100060002951000889500008C9510008F9160008F4
 :10007000F9160008F9160008F9160008F916000824
 :10008000F9160008F9160008F9160008F916000814
-:1000900061560008F9160008F9160008F91600085C
-:1000A000F9160008614D0008F9160008F916000855
+:1000900049560008F9160008F9160008F916000874
+:1000A000F9160008494D0008F9160008F91600086D
 :1000B000F9160008F9160008F9160008F9160008E4
 :1000C000F9160008F9160008F9160008F9160008D4
 :1000D000F9160008F9160008F9160008F9160008C4
-:1000E000F9160008F916000865560008F916000808
-:1000F000D94D0008F9160008F9160008F91600088D
-:10010000F9160008F9160008854C0008F9160008D1
-:10011000DD590008F9160008F9160008F91600085C
+:1000E000F9160008F91600084D560008F916000820
+:1000F000C14D0008F9160008F9160008F9160008A5
+:10010000F9160008F91600086D4C0008F9160008E9
+:10011000C5590008F9160008F9160008F916000874
 :10012000F9160008F9160008F9160008F916000873
 :1001300000000000000000000000000000000000BF
 :1001400000000000000000000000000000000000AF
@@ -365,8 +365,8 @@
 :1016A800002100F004B80D4B5B58435004310C483E
 :1016B8000C4B42189A42FFF4F6AF0B4A00F003B8FD
 :1016C800002342F8043B094B9A42FFF4F9AF04F0B7
-:1016D80015F807F035FA02F0D1FF7047E0E5000889
-:1016E80000000020A4090020A4090020181A0020E6
+:1016D80009F807F029FA02F0C5FF704730E600085C
+:1016E80000000020A4090020A4090020341A0020CA
 :1016F800FFF7FEBF40F0BF604FF46D4340F4003188
 :10170800CEF20003D9607047C37830B47BB9007853
 :10171800012100F01F0201FA02F140094FF4614370
@@ -379,11 +379,11 @@
 :101788002210D2E708B54FF41053C4F2010398426F
 :1017980018D04FF42051C4F2010188421ED04FF4F2
 :1017A8007052C4F20102904200D008BD01214FF4EA
-:1017B800004000F03BFB4FF400400021BDE808402A
-:1017C80000F034BB01214FF4007000F02FFB4FF400
-:1017D80000700021BDE8084000F028BB01214FF44B
-:1017E800806000F023FB4FF480600021BDE80840D2
-:1017F80000F01CBB42680B6870B422F470250C79A9
+:1017B800004000F0DBFA4FF400400021BDE808408B
+:1017C80000F0D4BA01214FF4007000F0CFFA4FF4C2
+:1017D80000700021BDE8084000F0C8BA01214FF4AC
+:1017E800806000F0C3FA4FF480600021BDE8084033
+:1017F80000F0BCBA42680B6870B422F470250C790A
 :1018080025F4807646EA030242EA042343608668A8
 :101818008C68CA684FF2FD73CFF6F1734D79224395
 :101828003340134343EA45028260097CC26A4B1E77
@@ -391,3094 +391,3094 @@
 :10184800836819B923F001018160704743F00102F0
 :1018580082607047836843F008018160704700BF69
 :101868008068C0F3C0007047836843F0040181605A
-:10187800704700BF8068C0F380007047836819B95B
-:1018880023F4A0018160704743F4A002826070478E
-:10189800092970B401EB41041ED91E3C072606FA3B
-:1018A80004F603FA04F4C568062A25EA060343EA9F
-:1018B8000403C3601DD90C2A02EB820227D9413ADE
-:1018C8001F2404FA02F401FA02F1C36A23EA0402AB
-:1018D8000A43C26270BC7047072606FA04F603FA88
-:1018E80004F40569062A25EA060343EA04030361AA
-:1018F800E1D8541E04EB84031F2404FA03F401FA0C
-:1019080003F1426B22EA04030B434363E2E7233A01
-:101918001F2404FA02F401FA02F1036B23EA040219
-:101928000A430263D6E700BFC06C80B2704700BFAD
-:10193800036819420CBF002001207047837930B436
-:101948003BB34FF48063C4F2010301681D68CC43C4
-:1019580025401D605D6802792C4002F180455C607D
-:1019680005F5823215684479294311600268986840
-:10197800D14308409860D868102C01EA0001D9606A
-:1019880013D004F1804303F5823421680A432260AE
-:1019980009E00279016802F1804000F582331A6893
-:1019A80022EA01021A6030BC7047986810439860B8
-:1019B800D9680A43DA60F6E74FF48063C4F201039A
-:1019C8001A691043186170474FF48063C4F2010329
-:1019D80058617047CA7830B4D30648BF8B7802F094
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-:1019F8000105016840F0EC8003F00205ADB2002D4E
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+:10EE8000440800204C0800204C08002054080020B2
+:10EE9000540800205C0800205C0800206408002062
+:10EEA000640800206C0800206C0800207408002012
+:10EEB000740800207C0800207C08002084080020C2
+:10EEC000840800208C0800208C0800209408002072
+:10EED000940800209C0800209C080020A408002022
+:10EEE000A4080020AC080020AC080020B4080020D2
+:10EEF000B4080020BC080020BC080020C408002082
+:10EF0000C4080020CC080020CC080020D408002031
+:10EF1000D4080020DC080020DC080020E4080020E1
+:10EF2000E4080020EC080020EC080020F408002091
+:10EF3000F4080020FC080020FC0800200409002040
+:10EF4000040900200C0900200C09002014090020ED
+:10EF5000140900201C0900201C090020240900209D
+:10EF6000240900202C0900202C090020340900204D
+:10EF7000340900203C0900203C09002044090020FD
+:10EF8000440900204C0900204C09002054090020AD
+:10EF90005409002000000200FFFFFFFF28E50008E1
+:10EFA00094D9000894D9000894D9000894D900088D
+:10EFB00094D9000894D9000894D9000894D900087D
+:10EFC00094D90008FFFFFFFFFFFFFFFFFFFFFFFFD8
+:04EFD000FFFF00003F
 :04000005080016A930
 :00000001FF
diff --git a/built-versions/0.4/STM32Gimbal.zip b/built-versions/0.4/STM32Gimbal.zip
index f19a414..89757a5 100644
Binary files a/built-versions/0.4/STM32Gimbal.zip and b/built-versions/0.4/STM32Gimbal.zip differ
diff --git a/built-versions/GUI/0.4/application.windows32/lib/EvvGC_GUI_v0_4.jar b/built-versions/GUI/0.4/application.windows32/lib/EvvGC_GUI_v0_4.jar
index 3ffcf3c..7bdf602 100644
Binary files a/built-versions/GUI/0.4/application.windows32/lib/EvvGC_GUI_v0_4.jar and b/built-versions/GUI/0.4/application.windows32/lib/EvvGC_GUI_v0_4.jar differ
diff --git a/built-versions/GUI/0.4/application.windows32/source/EvvGC_GUI_v0_4.java b/built-versions/GUI/0.4/application.windows32/source/EvvGC_GUI_v0_4.java
index f41a53c..c07d5ae 100644
--- a/built-versions/GUI/0.4/application.windows32/source/EvvGC_GUI_v0_4.java
+++ b/built-versions/GUI/0.4/application.windows32/source/EvvGC_GUI_v0_4.java
@@ -74,10 +74,10 @@ public class EvvGC_GUI_v0_4 extends PApplet {
 boolean readEnable = false;
 boolean printlist = true;
 boolean portopen = false;
-char RCcontrol = '0'; 
-char YawRCon = '0'; 
+char RCcontrol = '0';
+char YawRCon = '0';
 String readStatus = "";
-String Version = "0.4.1";
+String Version = "0.4.1.1";
 
 public controlP5.Controller hideLabel(controlP5.Controller c) {
   c.setLabel("");
@@ -88,21 +88,21 @@ public controlP5.Controller hideLabel(controlP5.Controller c) {
 
 public void setup()
 {
-  
+
   size(600, 280);
   background(75);
-  
+
   textSize(28);
   fill(0, 120, 170);//blue
   text("EvvGC GUI",20,50); text(Version, 170,50);
- 
- 
+
+
   // Define colors
   b1 = color(80);
   b2 = color(60);
   c1 = color(80, 80, 80);
   c2 = color(60, 61, 59);
-  
+
   controlP5 = new ControlP5(this); // initialize the GUI controls
 
   //List all the available serial ports:
@@ -110,10 +110,11 @@ public void setup()
 
 
 
+  commListMax = -1;
   for(int i=0;i<Serial.list().length;i++) {
     commListMax = i;
-  }  
-  
+  }
+
 
 
   /******************************PID cells*************************************************************/
@@ -156,20 +157,20 @@ public void setup()
   /****************************Buttons*********************************************************************/
    buttonWRITE =     controlP5.addButton("WRITE",1,500,248,60,20);buttonWRITE.setColorBackground(gray_);
    buttonREAD =     controlP5.addButton("READ",1,40,248,60,20);buttonREAD.setColorBackground(gray_);
-   
+
    buttonCONFon =     controlP5.addButton("CONFIGon",1,400,10,60,60);buttonCONFon.setColorBackground(gray_);
    buttonCONFoff =     controlP5.addButton("CONFIGoff",1,330,10,60,60);buttonCONFoff.setColorBackground(gray_);
-   
+
    buttonP0 =     controlP5.addButton("P0",1,490, 5,20,20);buttonP0.setColorBackground(gray_);
    buttonP1 =     controlP5.addButton("P1",1,490,30,20,20);buttonP1.setColorBackground(gray_);
    buttonP2 =     controlP5.addButton("P2",1,490,55,20,20);buttonP2.setColorBackground(gray_);
-   
+
    buttonRCOff  =     controlP5.addButton("RC_OFF",1,450,122,65,20);buttonRCOff.setColorBackground(gray_);
    buttonRCOn   =     controlP5.addButton("RC_ON",1,450,100,65,20);buttonRCOn.setColorBackground(gray_);
-   
+
    buttonYawRC  =     controlP5.addButton("Yaw_RC_Pan",1,520,100,75,20);buttonYawRC.setColorBackground(gray_);
    buttonYawAut =     controlP5.addButton("Yaw_Auto_Pan",1,520,122,75,20);buttonYawAut.setColorBackground(gray_);
-   
+
    buttonCONFoff.setColorBackground(green_);
 
 }
@@ -178,56 +179,56 @@ public void draw() {
   //String Serial.list()[];
   //size(600, 280);
   //background(80);
- 
+
   fill(70); strokeWeight(0);stroke(35); //75
   rect(0, 80, 600, 155, 0);
-  
+
   fill(70); strokeWeight(0);stroke(35);
   rect(440, 80, 600, 155, 0);
-  
+
   fill(75); strokeWeight(0);stroke(80);
   rect(0, 240, 600, 100, 0);
 
-  
+
   fill(255);
-  
+
   // Background
  // setGradient(0, 0, width, 80, c2, c1, Y_AXIS);
 
 
-  
+
   textSize(12);
   text("Pitch P:",35,112);
   textSize(12);
   text("Pitch D:",155,112);
-  
+
   textSize(12);
   text("Roll P:",38,162);
   textSize(12);
   text("Roll D:",158,162);
-  
+
   textSize(12);
   text("Yaw P:",38,211);
   textSize(12);
   text("Yaw D:",158,211);
-  
-  
+
+
   textSize(12);
   text("Pitch Power:             %",301,112);
   textSize(12);
   text("Roll Power:             %",307,162);
   textSize(12);
   text("Yaw Power:             %",305,212);
-  
+
   textSize(12);
   text("Roll Calibration (degr.)",460,190);
-  
+
    textSize(16);
   //fill(0, 102, 153, 204);
  // text("Connected to:",400,45); text(Serial.list()[0],515,45);
  // text("Connected to:",400,45); text(Serial.list()[1],515,65);
   //text("Connected to:",400,45); text(Serial.list()[2],515,65);
-  
+
 
     if(printlist==true){
       for(int i=0;i<=commListMax;i++) {
@@ -238,36 +239,36 @@ public void draw() {
 
     textSize(12);
     text(readStatus,110,263);
-    
-    
-    
-    
+
+
+
+
     if(PitchP.value()==0)PitchP.setValue(0.01f);
     if(RollP.value()==0)RollP.setValue(0.01f);
     if(YawP.value()==0)YawP.setValue(0.01f);
-    
+
     if(PitchD.value()==0)PitchD.setValue(0.01f);
     if(RollD.value()==0)RollD.setValue(0.01f);
     if(YawD.value()==0)YawD.setValue(0.01f);
-    
+
     if(PitchPWR.value()==0)PitchPWR.setValue(1);
     if(RollPWR.value()==0)RollPWR.setValue(1);
     if(YawPWR.value()==0)YawPWR.setValue(1);
-    
+
     //if(RollCal.value()==-9.9)RollCal.setValue(-9.9);
- 
+
 }
 
 
 public void WRITE() {
   if(writeEnable == false) return;
 
-  myPort.write("h"); 
-  
+  myPort.write("h");
+
   myPort.write (PApplet.parseInt (PitchP.value()*100));
   myPort.write (PApplet.parseInt (RollP.value()*100));
   myPort.write (PApplet.parseInt (YawP.value()*100));
-  
+
   myPort.write (PApplet.parseInt (PitchD.value()*100));
   myPort.write (PApplet.parseInt (RollD.value()*100));
   myPort.write (PApplet.parseInt (YawD.value()*100));
@@ -275,14 +276,14 @@ public void WRITE() {
   myPort.write (PApplet.parseInt (PitchPWR.value()));
   myPort.write (PApplet.parseInt (RollPWR.value()));
   myPort.write (PApplet.parseInt (YawPWR.value()));
-  
+
   myPort.write (RCcontrol);
   myPort.write (YawRCon);
-  
+
   myPort.write (PApplet.parseInt (RollCal.value()*10+100));
   //println (RollCal.value());
   //println (int (RollCal.value()*10+100));
- 
+
  readStatus = "Write OK";
 
 }
@@ -303,7 +304,7 @@ public void READ() {
 PitchP.setValue(myPort.read()/100.00f);
 RollP.setValue(myPort.read()/100.00f);
 YawP.setValue(myPort.read()/100.00f);
-  
+
 PitchD.setValue(myPort.read()/100.00f);
 RollD.setValue(myPort.read()/100.00f);
 YawD.setValue(myPort.read()/100.00f);
@@ -355,7 +356,7 @@ public void CONFIGoff() {
 }
 
 public void P0() {
-  
+
   buttonP0.setColorBackground(green_);
   buttonP1.setColorBackground(gray_);
   buttonP2.setColorBackground(gray_);
@@ -426,7 +427,7 @@ public void ZERO() {
 
 
 
-  
+
 
 
   static public void main(String[] passedArgs) {
diff --git a/built-versions/GUI/0.4/application.windows32/source/EvvGC_GUI_v0_4.pde b/built-versions/GUI/0.4/application.windows32/source/EvvGC_GUI_v0_4.pde
index 1942f85..209bd08 100644
--- a/built-versions/GUI/0.4/application.windows32/source/EvvGC_GUI_v0_4.pde
+++ b/built-versions/GUI/0.4/application.windows32/source/EvvGC_GUI_v0_4.pde
@@ -54,10 +54,10 @@ boolean writeEnable = false;
 boolean readEnable = false;
 boolean printlist = true;
 boolean portopen = false;
-char RCcontrol = '0'; 
-char YawRCon = '0'; 
+char RCcontrol = '0';
+char YawRCon = '0';
 String readStatus = "";
-String Version = "0.4.1";
+String Version = "0.4.1.1";
 
 controlP5.Controller hideLabel(controlP5.Controller c) {
   c.setLabel("");
@@ -68,21 +68,21 @@ controlP5.Controller hideLabel(controlP5.Controller c) {
 
 void setup()
 {
-  
+
   size(600, 280);
   background(75);
-  
+
   textSize(28);
   fill(0, 120, 170);//blue
   text("EvvGC GUI",20,50); text(Version, 170,50);
- 
- 
+
+
   // Define colors
   b1 = color(80);
   b2 = color(60);
   c1 = color(80, 80, 80);
   c2 = color(60, 61, 59);
-  
+
   controlP5 = new ControlP5(this); // initialize the GUI controls
 
   //List all the available serial ports:
@@ -90,10 +90,11 @@ void setup()
 
 
 
+  commListMax = -1;
   for(int i=0;i<Serial.list().length;i++) {
     commListMax = i;
-  }  
-  
+  }
+
 
 
   /******************************PID cells*************************************************************/
@@ -136,20 +137,20 @@ void setup()
   /****************************Buttons*********************************************************************/
    buttonWRITE =     controlP5.addButton("WRITE",1,500,248,60,20);buttonWRITE.setColorBackground(gray_);
    buttonREAD =     controlP5.addButton("READ",1,40,248,60,20);buttonREAD.setColorBackground(gray_);
-   
+
    buttonCONFon =     controlP5.addButton("CONFIGon",1,400,10,60,60);buttonCONFon.setColorBackground(gray_);
    buttonCONFoff =     controlP5.addButton("CONFIGoff",1,330,10,60,60);buttonCONFoff.setColorBackground(gray_);
-   
+
    buttonP0 =     controlP5.addButton("P0",1,490, 5,20,20);buttonP0.setColorBackground(gray_);
    buttonP1 =     controlP5.addButton("P1",1,490,30,20,20);buttonP1.setColorBackground(gray_);
    buttonP2 =     controlP5.addButton("P2",1,490,55,20,20);buttonP2.setColorBackground(gray_);
-   
+
    buttonRCOff  =     controlP5.addButton("RC_OFF",1,450,122,65,20);buttonRCOff.setColorBackground(gray_);
    buttonRCOn   =     controlP5.addButton("RC_ON",1,450,100,65,20);buttonRCOn.setColorBackground(gray_);
-   
+
    buttonYawRC  =     controlP5.addButton("Yaw_RC_Pan",1,520,100,75,20);buttonYawRC.setColorBackground(gray_);
    buttonYawAut =     controlP5.addButton("Yaw_Auto_Pan",1,520,122,75,20);buttonYawAut.setColorBackground(gray_);
-   
+
    buttonCONFoff.setColorBackground(green_);
 
 }
@@ -158,56 +159,56 @@ void draw() {
   //String Serial.list()[];
   //size(600, 280);
   //background(80);
- 
+
   fill(70); strokeWeight(0);stroke(35); //75
   rect(0, 80, 600, 155, 0);
-  
+
   fill(70); strokeWeight(0);stroke(35);
   rect(440, 80, 600, 155, 0);
-  
+
   fill(75); strokeWeight(0);stroke(80);
   rect(0, 240, 600, 100, 0);
 
-  
+
   fill(255);
-  
+
   // Background
  // setGradient(0, 0, width, 80, c2, c1, Y_AXIS);
 
 
-  
+
   textSize(12);
   text("Pitch P:",35,112);
   textSize(12);
   text("Pitch D:",155,112);
-  
+
   textSize(12);
   text("Roll P:",38,162);
   textSize(12);
   text("Roll D:",158,162);
-  
+
   textSize(12);
   text("Yaw P:",38,211);
   textSize(12);
   text("Yaw D:",158,211);
-  
-  
+
+
   textSize(12);
   text("Pitch Power:             %",301,112);
   textSize(12);
   text("Roll Power:             %",307,162);
   textSize(12);
   text("Yaw Power:             %",305,212);
-  
+
   textSize(12);
   text("Roll Calibration (degr.)",460,190);
-  
+
    textSize(16);
   //fill(0, 102, 153, 204);
  // text("Connected to:",400,45); text(Serial.list()[0],515,45);
  // text("Connected to:",400,45); text(Serial.list()[1],515,65);
   //text("Connected to:",400,45); text(Serial.list()[2],515,65);
-  
+
 
     if(printlist==true){
       for(int i=0;i<=commListMax;i++) {
@@ -218,36 +219,36 @@ void draw() {
 
     textSize(12);
     text(readStatus,110,263);
-    
-    
-    
-    
+
+
+
+
     if(PitchP.value()==0)PitchP.setValue(0.01);
     if(RollP.value()==0)RollP.setValue(0.01);
     if(YawP.value()==0)YawP.setValue(0.01);
-    
+
     if(PitchD.value()==0)PitchD.setValue(0.01);
     if(RollD.value()==0)RollD.setValue(0.01);
     if(YawD.value()==0)YawD.setValue(0.01);
-    
+
     if(PitchPWR.value()==0)PitchPWR.setValue(1);
     if(RollPWR.value()==0)RollPWR.setValue(1);
     if(YawPWR.value()==0)YawPWR.setValue(1);
-    
+
     //if(RollCal.value()==-9.9)RollCal.setValue(-9.9);
- 
+
 }
 
 
 public void WRITE() {
   if(writeEnable == false) return;
 
-  myPort.write("h"); 
-  
+  myPort.write("h");
+
   myPort.write (int (PitchP.value()*100));
   myPort.write (int (RollP.value()*100));
   myPort.write (int (YawP.value()*100));
-  
+
   myPort.write (int (PitchD.value()*100));
   myPort.write (int (RollD.value()*100));
   myPort.write (int (YawD.value()*100));
@@ -255,14 +256,14 @@ public void WRITE() {
   myPort.write (int (PitchPWR.value()));
   myPort.write (int (RollPWR.value()));
   myPort.write (int (YawPWR.value()));
-  
+
   myPort.write (RCcontrol);
   myPort.write (YawRCon);
-  
+
   myPort.write (int (RollCal.value()*10+100));
   //println (RollCal.value());
   //println (int (RollCal.value()*10+100));
- 
+
  readStatus = "Write OK";
 
 }
@@ -283,7 +284,7 @@ if(myPort.read()=='x'){
 PitchP.setValue(myPort.read()/100.00);
 RollP.setValue(myPort.read()/100.00);
 YawP.setValue(myPort.read()/100.00);
-  
+
 PitchD.setValue(myPort.read()/100.00);
 RollD.setValue(myPort.read()/100.00);
 YawD.setValue(myPort.read()/100.00);
@@ -335,7 +336,7 @@ public void CONFIGoff() {
 }
 
 public void P0() {
-  
+
   buttonP0.setColorBackground(green_);
   buttonP1.setColorBackground(gray_);
   buttonP2.setColorBackground(gray_);
@@ -406,6 +407,6 @@ public void ZERO() {
 
 
 
-  
+
 
 
diff --git a/history.md b/history.md
index 8c401ee..f1ba9d6 100755
--- a/history.md
+++ b/history.md
@@ -194,3 +194,19 @@
       mis configuration
     - correct gyro configuration
     - release of 0.4.2 firmware
+
+20131010
+    - added usb bootloader and associated scripts.  See wiki for details on use
+    - corrected RC control double add of RC values
+    - included Autopan on Yaw in software
+    - release of 0.4.3 firmware
+
+20131019
+    - updated gyro.c to setup the mpu6050 the correct way, added the z axis clock as the imu clock
+    - other minor formatting changes
+
+20131021
+    - revised gyro.c initialization completely after finding a major issue with the original version
+      Gyro is initialized with Z Axis clock, 8khz sample rate on the gyro, 1khz on the accel, NO LPF enabled, 250 deg/sec on the gyro and +/-2G on the accel
+    - The gyro scale has been corrected to be the right value for a 250d/sec gyro setup
+    - engine.c was corrected to maintain all values in Radians
diff --git a/setup/dfu-util-static.exe b/setup/dfu-util-static.exe
new file mode 100644
index 0000000..9ae7a35
Binary files /dev/null and b/setup/dfu-util-static.exe differ
diff --git a/src/commhandler.c b/src/commhandler.c
index 427592f..4a609c7 100644
--- a/src/commhandler.c
+++ b/src/commhandler.c
@@ -33,6 +33,11 @@ void CommHandler(void) //UART4 Interrupt handler implementation
 
         switch (c)
         {
+            case 'a':
+                debugAutoPan ^= 1;
+                print("Autopan messages %s\r\n", debugOrient ? "on" : "off");
+                break;
+
             case 'b':
                 print("rebooting into boot loader ...\r\n");
                 Delay_ms(1000);
diff --git a/src/engine.c b/src/engine.c
index f98090d..5a5004b 100644
--- a/src/engine.c
+++ b/src/engine.c
@@ -21,16 +21,17 @@
 #include "usb.h"
 #include "main.h"
 
-int debugPrint  = 0;
-int debugPerf   = 0;
-int debugSense  = 0;
-int debugCnt    = 0;
-int debugRC     = 0;
-int debugOrient = 0;
-
-float /*pitch, Gyro_Pitch_angle,*/ pitch_setpoint = 0.0f, pitch_Error_last,  pitch_angle_correction;
-float /*roll,  Gyro_Roll_angle,*/  roll_setpoint = 0.0f,  roll_Error_last,    roll_angle_correction;
-float /*yaw,   Gyro_Yaw_angle,*/   yaw_setpoint = 0.0f,   yaw_Error_last,      yaw_angle_correction;
+int debugPrint   = 0;
+int debugPerf    = 0;
+int debugSense   = 0;
+int debugCnt     = 0;
+int debugRC      = 0;
+int debugOrient  = 0;
+int debugAutoPan = 0;
+
+float /*pitch, Gyro_Pitch_angle,*/ pitch_setpoint = 0.0f, pitch_Error_last = 0.0f,  pitch_angle_correction;
+float /*roll,  Gyro_Roll_angle,*/  roll_setpoint  = 0.0f,  roll_Error_last = 0.0f,   roll_angle_correction;
+float /*yaw,   Gyro_Yaw_angle,*/   yaw_setpoint   = 0.0f,   yaw_Error_last = 0.0f,    yaw_angle_correction;
 
 float ADC1Ch13_yaw;
 
@@ -38,6 +39,8 @@ static float rollRCOffset = 0.0f, pitchRCOffset = 0.0f, yawRCOffset = 0.0f;
 
 static int printcounter = 0;
 
+float Output[EULAR];
+
 float CameraOrient[EULAR];
 float AccAngleSmooth[EULAR];
 
@@ -50,33 +53,36 @@ float RCSmooth[NUMAXIS] = {0.0f, 0.0f, 0.0f};
 void roll_PID(void)
 {
     float Error_current = roll_setpoint + CameraOrient[ROLL] * 1000.0;
-    float KP = Error_current * (float)configData[1] / 1000.0;
-    float KD = (float)configData[4] / 100.0 * (Error_current - roll_Error_last);
+    float KP = Error_current * ((float)configData[1] / 1000.0);
+    float KD = ((float)configData[4] / 100.0) * (Error_current - roll_Error_last);
 
     roll_Error_last = Error_current;
 
+    Output[ROLL] = KD + KP;
     SetRollMotor(KP + KD, configData[7]);
 }
 
 void pitch_PID(void)
 {
     float Error_current = pitch_setpoint + CameraOrient[PITCH] * 1000.0;
-    float KP = Error_current * (float)configData[0] / 1000.0;
-    float KD = (float)configData[3] / 100.0 * (Error_current - pitch_Error_last);
+    float KP = Error_current * ((float)configData[0] / 1000.0);
+    float KD = ((float)configData[3] / 100.0) * (Error_current - pitch_Error_last);
 
     pitch_Error_last = Error_current;
 
+    Output[PITCH] = KD + KP;
     SetPitchMotor(KP + KD, configData[6]);
 }
 
 void yaw_PID(void)
 {
     float Error_current = yaw_setpoint + CameraOrient[YAW] * 1000.0;
-    float KP = Error_current * (float)configData[2] / 1000.0;
-    float KD = (float)configData[5] / 100.0 * (Error_current - yaw_Error_last);
+    float KP = Error_current * ((float)configData[2] / 1000.0);
+    float KD = ((float)configData[5] / 100.0) * (Error_current - yaw_Error_last);
 
     yaw_Error_last = Error_current;
 
+    Output[YAW] = KD + KP;
     SetYawMotor(KP + KD, configData[8]);
 }
 
@@ -130,7 +136,7 @@ void Init_Orientation()
 
     CameraOrient[PITCH] = AccAngleSmooth[PITCH];
     CameraOrient[ROLL] = AccAngleSmooth[ROLL];
-    CameraOrient[YAW] = 0.0;
+    CameraOrient[YAW] = 0.0f;
 }
 
 void Get_Orientation(float *SmoothAcc, float *Orient, float *AccData, float *GyroData, float dt)
@@ -141,19 +147,53 @@ void Get_Orientation(float *SmoothAcc, float *Orient, float *AccData, float *Gyr
     AccAngle[ROLL]  = -(atan2f(AccData[X_AXIS], AccData[Z_AXIS]));   //Calculating pitch ACC angle
     AccAngle[PITCH] = +(atan2f(AccData[Y_AXIS], AccData[Z_AXIS]));   //Calculating roll ACC angle
 
-    SmoothAcc[ROLL]  = ((SmoothAcc[ROLL] * 99.0)  + AccAngle[ROLL])  / 100.0; //Averaging pitch ACC values
-    SmoothAcc[PITCH] = ((SmoothAcc[PITCH] * 99.0) + AccAngle[PITCH]) / 100.0; //Averaging roll  ACC values
+    SmoothAcc[ROLL]  = ((SmoothAcc[ROLL] * 99.0f)  + AccAngle[ROLL])  / 100.0f; //Averaging pitch ACC values
+    SmoothAcc[PITCH] = ((SmoothAcc[PITCH] * 99.0f) + AccAngle[PITCH]) / 100.0f; //Averaging roll  ACC values
 
     GyroRate[PITCH] =  GyroData[X_AXIS];
-    Orient[PITCH]   = (Orient[PITCH] + GyroRate[PITCH] * dt) + 0.0002 * (SmoothAcc[PITCH] - Orient[PITCH]);  //Pitch Horizon
+    Orient[PITCH]   = (Orient[PITCH] + GyroRate[PITCH] * dt) + 0.0002f * (SmoothAcc[PITCH] - Orient[PITCH]);  //Pitch Horizon
 
     GyroRate[ROLL] = -GyroData[Z_AXIS] * sinf(Orient[PITCH]) + GyroData[Y_AXIS] * cosf(fabsf(Orient[PITCH]));
-    Orient[ROLL]   = (Orient[ROLL] + GyroRate[ROLL] * dt)    + 0.0002 * (SmoothAcc[ROLL] - Orient[ROLL]); //Roll Horizon
+    Orient[ROLL]   = (Orient[ROLL] + GyroRate[ROLL] * dt)    + 0.0002f * (SmoothAcc[ROLL] - Orient[ROLL]); //Roll Horizon
 
     GyroRate[YAW] = -GyroData[Z_AXIS] * cosf(fabsf(Orient[PITCH])) - GyroData[Y_AXIS] * sinf(Orient[PITCH]); //presuming Roll is horizontal
     Orient[YAW]   = (Orient[YAW] + GyroRate[YAW] * dt); //Yaw
 }
 
+//---------------------YAW autopan----------------------//
+//#define ANGLE2SETPOINT -1000
+#define DEADBAND 2.0f //in radians with respect to one motor pole (actual angle is (DEADBAND / numberPoles) * R2D)
+#define MOTORPOS2SETPNT 0.35f //scaling factor for how fast it should move
+#define AUTOPANSMOOTH 40.0f
+//#define LPFTIMECONSTANT 20 //change this to adjust sensitivity
+
+//float yawAngleLPF=0;
+float centerPoint = 0.0f;
+float stepSmooth  = 0.0f;
+float step        = 0.0f;
+
+float autoPan(float motorPos, float setpoint)
+{
+
+    if (motorPos < centerPoint - DEADBAND)
+    {
+        centerPoint = (+DEADBAND);
+        step = MOTORPOS2SETPNT * motorPos; //dampening
+    }
+    else if (motorPos > centerPoint + DEADBAND)
+    {
+        centerPoint = (-DEADBAND);
+        step = MOTORPOS2SETPNT * motorPos; //dampening
+    }
+    else
+    {
+        step = 0.0f;
+        centerPoint = 0.0f;
+    }
+    stepSmooth = (stepSmooth * (AUTOPANSMOOTH - 1.0f) + step) / AUTOPANSMOOTH;
+    return (setpoint -= stepSmooth);
+}
+//--------------------Engine Process-----------------------------//
 void engineProcess(float dt)
 {
     static int loopCounter;
@@ -182,33 +222,36 @@ void engineProcess(float dt)
     }
 
     // Pitch adjustments
-    pitch_setpoint += Step[PITCH];
+    //pitch_setpoint += Step[PITCH];
     pitchRCOffset += Step[PITCH] / 1000.0;
 
-    pitch_angle_correction = constrain((CameraOrient[PITCH] + pitchRCOffset) * 50.0, -CORRECTION_STEP, CORRECTION_STEP);
+    pitch_angle_correction = constrain((CameraOrient[PITCH] + pitchRCOffset) * R2D, -CORRECTION_STEP, CORRECTION_STEP);
     pitch_setpoint += pitch_angle_correction; // Pitch return to zero after collision
 
     // Roll Adjustments
-    roll_setpoint += Step[ROLL];
+    //roll_setpoint += Step[ROLL];
     rollRCOffset += Step[ROLL] / 1000.0;
 
     // include the config roll offset which is scaled to 0 = -10.0 degrees, 100 = 0.0 degrees, and 200 = 10.0 degrees
-    roll_angle_correction = constrain((CameraOrient[ROLL] + rollRCOffset + Deg2Rad((configData[11] - 100) / 10.0)) * 50.0, -CORRECTION_STEP, CORRECTION_STEP);
+    roll_angle_correction = constrain((CameraOrient[ROLL] + rollRCOffset + Deg2Rad((configData[11] - 100) / 10.0)) * R2D, -CORRECTION_STEP, CORRECTION_STEP);
     roll_setpoint += roll_angle_correction; //Roll return to zero after collision
 
     // if we enabled AutoPan on Yaw
     if (configData[10] == '0')
     {
-        ADC1Ch13_yaw = ((ADC1Ch13_yaw * 99.0) + ((float)(readADC1(13) - 2000) / 4000.0)) / 100.0;  // Average ADC value
-        CameraOrient[YAW] = CameraOrient[YAW] + 0.01 * (ADC1Ch13_yaw - CameraOrient[YAW]);
+        //ADC1Ch13_yaw = ((ADC1Ch13_yaw * 99.0) + ((float)(readADC1(13) - 2000) / 4000.0)) / 100.0;  // Average ADC value
+        //CameraOrient[YAW] = CameraOrient[YAW] + 0.01 * (ADC1Ch13_yaw - CameraOrient[YAW]);
+        yaw_setpoint = autoPan(Output[YAW], yaw_setpoint);
+    }
+    else
+    {
+        // Yaw Adjustments
+        yaw_setpoint += Step[YAW];
+        yawRCOffset += Step[YAW] / 1000.0;
     }
-
-    // Yaw Adjustments
-    yaw_setpoint += Step[YAW];
-    yawRCOffset += Step[YAW] / 1000.0;
 
 #if 0
-    yaw_angle_correction = constrain((CameraOrient[YAW] + yawRCOffset) * 50.0, -CORRECTION_STEP, CORRECTION_STEP);
+    yaw_angle_correction = constrain((CameraOrient[YAW] + yawRCOffset) * R2D, -CORRECTION_STEP, CORRECTION_STEP);
     yaw_setpoint += yaw_angle_correction; // Yaw return to zero after collision
 #endif
 
@@ -266,6 +309,15 @@ void engineProcess(float dt)
                   usbOverrun());
         }
 
+        if (debugAutoPan)
+        {
+            print("Pitch_output:%3.2f | Roll_output:%3.2f | Yaw_output:%3.2f | centerpoint:%4.4f\n\r",
+                  Output[PITCH],
+                  Output[ROLL],
+                  Output[YAW],
+                  centerPoint);
+        }
+
         printcounter = 0;
     }
 
diff --git a/src/engine.h b/src/engine.h
index 1ec0088..5d5f9db 100644
--- a/src/engine.h
+++ b/src/engine.h
@@ -18,7 +18,7 @@ extern int debugSense;
 extern int debugCnt;
 extern int debugRC;
 extern int debugOrient;
-extern int debugCam;
+extern int debugAutoPan;
 
 void Init_Orientation(void);
 void engineProcess(float dt);
diff --git a/src/gyro.c b/src/gyro.c
index 692bb38..d5501b8 100644
--- a/src/gyro.c
+++ b/src/gyro.c
@@ -21,8 +21,8 @@ int MPU6050_Init(void)
 {
     uint8_t mpu_adr;
 
-    Delay_ms(1);
-
+    // Check to make sure there is a device out there and its on the
+    // correct address
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
@@ -41,6 +41,7 @@ int MPU6050_Init(void)
     I2C1_NoAck();
     I2C1_Stop();
 
+    // if wrong address or no device then bail out with an error
     if (mpu_adr != 0x68)
     {
         return -1;
@@ -48,104 +49,127 @@ int MPU6050_Init(void)
 
     Delay_ms(5);
 
+    // force a device reset
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
-    I2C1_SendByte(0x19); // Sample output rate
+    I2C1_SendByte(0x6B); // Force a reset
     I2C1_WaitAck();
-    I2C1_SendByte(0x00);
+    I2C1_SendByte(0x80);
+    I2C1_WaitAck();
+    I2C1_Stop();
+
+    Delay_ms(150);
+
+    // set the internal clock to be the Z AXIS gyro
+    I2C1_Start();
+    I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
+    I2C1_WaitAck();
+    I2C1_SendByte(0x6B);
+    I2C1_WaitAck();
+    I2C1_SendByte(0x03); // clock source AKA - changed from 0x00 (internal clock)
     I2C1_WaitAck();
     I2C1_Stop();
 
     Delay_ms(5);
 
+    //  turn off all sleep modes
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
-    I2C1_SendByte(0x1A);
+    I2C1_SendByte(0x6C);
     I2C1_WaitAck();
-    I2C1_SendByte(0x02);//low pass 98hz
+    I2C1_SendByte(0x00); // wake up ctrl
     I2C1_WaitAck();
     I2C1_Stop();
 
     Delay_ms(5);
 
+    //  Set the sample rate on the accel and refresh rate on the gyro
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
-    I2C1_SendByte(0x1B);
+    I2C1_SendByte(0x19); // Sample output rate
     I2C1_WaitAck();
-    I2C1_SendByte(0x08); //set to 500LSB/Deg/s
+    I2C1_SendByte(0x00);
     I2C1_WaitAck();
     I2C1_Stop();
 
     Delay_ms(5);
 
+    // turn on the built in LPF
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
-    I2C1_SendByte(0x1C);
+    I2C1_SendByte(0x1A);
     I2C1_WaitAck();
-    I2C1_SendByte(0x08); //set to accel to +/-4g scale
+    I2C1_SendByte(0x00);    //low pass disable AKA - was 0x02 for 98hz
     I2C1_WaitAck();
     I2C1_Stop();
 
     Delay_ms(5);
 
+    // set the gyro scale
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
-    I2C1_SendByte(0x37); // init pin config
+    I2C1_SendByte(0x1B);
     I2C1_WaitAck();
-    I2C1_SendByte(0x00);
+    I2C1_SendByte(0x00); //set to 250LSB/Deg/s
     I2C1_WaitAck();
     I2C1_Stop();
 
     Delay_ms(5);
 
+    // set the accel scale
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
-    I2C1_SendByte(0x38); // init enable
+    I2C1_SendByte(0x1C);
     I2C1_WaitAck();
-    I2C1_SendByte(0x00);
+    I2C1_SendByte(0x00); //set to accel to +/-2g scale AKA - was 0x08 for +/-4g
     I2C1_WaitAck();
     I2C1_Stop();
 
     Delay_ms(5);
 
+    //  configure the interrupt(s) pin because we don't use it
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
-    I2C1_SendByte(0x6A);
+    I2C1_SendByte(0x37); // init pin config
     I2C1_WaitAck();
-    I2C1_SendByte(0x01); // reset signal paths
+    I2C1_SendByte(0x00);
     I2C1_WaitAck();
     I2C1_Stop();
 
     Delay_ms(5);
 
+    // disable the interrupt pin(s)
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
-    I2C1_SendByte(0x6B);
+    I2C1_SendByte(0x38); // init enable
     I2C1_WaitAck();
-    I2C1_SendByte(0x00); // power management
+    I2C1_SendByte(0x00);
     I2C1_WaitAck();
     I2C1_Stop();
 
     Delay_ms(5);
 
+/*
+    // this was bad code and was removed
     I2C1_Start();
     I2C1_SendByte((0xD1 & 0xFE));//fe-0(Write)
     I2C1_WaitAck();
-    I2C1_SendByte(0x6C);
+    I2C1_SendByte(0x6A);
     I2C1_WaitAck();
-    I2C1_SendByte(0x00); // wake up ctrl
+    I2C1_SendByte(0x01); // reset signal paths
     I2C1_WaitAck();
     I2C1_Stop();
 
     Delay_ms(5);
+*/
 
     return 0;
 }
@@ -212,7 +236,7 @@ void MPU6050_Gyro_get(float *GyroData)
 
     if (I2Cerror == 0)
     {
-        float gyroScaleFactor = 8000.0f;//     2.0F/131.0F * M_PI/180.0F;
+        float gyroScaleFactor = 7505.747116f;// 8000.0f;//     2.0F/131.0F * M_PI/180.0F;
 
         gyroADC_ROLL  = (short)((read[0] << 8) | read[1]);
         GyroData[X_AXIS] = ((float)gyroADC_ROLL - gyroADC_ROLL_offset) / gyroScaleFactor;
diff --git a/src/main.h b/src/main.h
index b71c2c8..a15b96e 100644
--- a/src/main.h
+++ b/src/main.h
@@ -9,7 +9,7 @@
 #define MAIN_H_
 
 // software version number
-#define __EV_VERSION "0.4.2"
+#define __EV_VERSION "0.4.3"
 
 float GetIdlePerf(void);
 
diff --git a/src/pwm.c b/src/pwm.c
index a47a776..46e5b1a 100644
--- a/src/pwm.c
+++ b/src/pwm.c
@@ -100,9 +100,9 @@ void SetPWMOrg(int *pwm, float output, int level)
         output = testPhase;
     }
 
-    pwm[0] = (sin(output)        * 5 * level) + 500;
-    pwm[1] = (sin(output + 2.09) * 5 * level) + 500;
-    pwm[2] = (sin(output + 4.19) * 5 * level) + 500;
+    pwm[0] = (sin(output)        * 5 * level) + (PWM_PERIODE / 2);
+    pwm[1] = (sin(output + 2.09) * 5 * level) + (PWM_PERIODE / 2);
+    pwm[2] = (sin(output + 4.19) * 5 * level) + (PWM_PERIODE / 2);
 }
 
 void SetPWMOrgFaster(int *pwm, float phi, int power)
@@ -115,9 +115,9 @@ void SetPWMOrgFaster(int *pwm, float phi, int power)
     float fPower = 5 * power;
 
     phi = fmodf(phi, M_TWOPI); // sinf gets slow if phi >201
-    pwm[0] = (int)(sinf(phi)                * fPower + 0.5F) + 500;
-    pwm[1] = (int)(sinf(phi + 2.0 / 3.0 * M_PI) * fPower + 0.5F) + 500;
-    pwm[2] = (int)(sinf(phi + 4.0 / 3.0 * M_PI) * fPower + 0.5F) + 500;
+    pwm[0] = (int)(sinf(phi)                * fPower + 0.5F) + (PWM_PERIODE / 2);
+    pwm[1] = (int)(sinf(phi + 2.0 / 3.0 * M_PI) * fPower + 0.5F) + (PWM_PERIODE / 2);
+    pwm[2] = (int)(sinf(phi + 4.0 / 3.0 * M_PI) * fPower + 0.5F) + (PWM_PERIODE / 2);
 }
 
 void SetPWMFastTable(int *pwm, float phi, int power)
@@ -136,9 +136,9 @@ void SetPWMFastTable(int *pwm, float phi, int power)
     }
 
     int iPower = 5 * power;
-    pwm[0] = (sinDataI16[phiInt                          % SINARRAYSIZE] * iPower + SINARRAYSCALE / 2) / SINARRAYSCALE + 500;
-    pwm[1] = (sinDataI16[(phiInt + 1 * SINARRAYSIZE / 3)     % SINARRAYSIZE] * iPower + SINARRAYSCALE / 2) / SINARRAYSCALE + 500;
-    pwm[2] = (sinDataI16[(phiInt + (2 * SINARRAYSIZE + 1) / 3) % SINARRAYSIZE] * iPower + SINARRAYSCALE / 2) / SINARRAYSCALE + 500;
+    pwm[0] = (sinDataI16[phiInt                          % SINARRAYSIZE] * iPower + SINARRAYSCALE / 2) / SINARRAYSCALE + (PWM_PERIODE / 2);
+    pwm[1] = (sinDataI16[(phiInt + 1 * SINARRAYSIZE / 3)     % SINARRAYSIZE] * iPower + SINARRAYSCALE / 2) / SINARRAYSCALE + (PWM_PERIODE / 2);
+    pwm[2] = (sinDataI16[(phiInt + (2 * SINARRAYSIZE + 1) / 3) % SINARRAYSIZE] * iPower + SINARRAYSCALE / 2) / SINARRAYSCALE + (PWM_PERIODE / 2);
 }
 
 void SetPWM(int *pwm, float phi, int power)
@@ -208,7 +208,7 @@ inline void UpdateCounter(tAxis channel, int value)
     }
 }
 
-#define MAX_CNT (PWM_PERIODE*8/10)
+#define MAX_CNT (PWM_PERIODE * 8 / 10)
 
 void TIM5_IRQHandler(void) // yaw axis
 {
diff --git a/stm32_flash.ld b/stm32_flash.ld
index 1e1d183..870ee03 100644
--- a/stm32_flash.ld
+++ b/stm32_flash.ld
@@ -33,13 +33,9 @@ _Min_Stack_Size = 0x200; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
 {
-
   FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 256K
   RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 48K
-/*
-  FLASH (rx)      : ORIGIN = 0x08004000, LENGTH = 240K
-  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 48K
-*/
+
 }
 
 /* Define output sections */
diff --git a/stm32_flash_usb.ld b/stm32_flash_usb.ld
new file mode 100644
index 0000000..eb30ca7
--- /dev/null
+++ b/stm32_flash_usb.ld
@@ -0,0 +1,151 @@
+/*
+*****************************************************************************
+**
+**  File        : stm32_flash.ld
+**
+**  Abstract    : Linker script for STM32F103RC Device with
+**                256KByte FLASH, 48KByte RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**  Background  : This file was build and collected from other examples either
+**                in the STM Libraries or from other internet examples
+**
+**  Environment : Eclipse
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = 0x2000c000;    /* end of 48K RAM */
+
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0;      /* required amount of heap  */
+_Min_Stack_Size = 0x200; /* required amount of stack */
+
+/* Specify the memory areas */
+MEMORY
+{
+  FLASH (rx)      : ORIGIN = 0x08004000, LENGTH = 240K
+  RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 48K
+
+}
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+
+
+   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+    .ARM : {
+    __exidx_start = .;
+      *(.ARM.exidx*)
+      __exidx_end = .;
+    } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(.fini_array*))
+    KEEP (*(SORT(.fini_array.*)))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = .;
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data : AT ( _sidata )
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >RAM
+
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(4);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(4);
+  } >RAM
+
+  /* Remove information from the standard libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}