diff --git a/.gitignore b/.gitignore
index 006ab8f7..e90b27e5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,3 +14,5 @@ bld/
 [Oo]bj/
 
 *.userprefs
+InfernalRobotics/.vs/
+*.scgdat
diff --git a/InfernalRobotics.version b/InfernalRobotics.version
index 8f8d7e07..34b9234c 100644
--- a/InfernalRobotics.version
+++ b/InfernalRobotics.version
@@ -4,7 +4,7 @@
   "VERSION": {
     "MAJOR": 2,
     "MINOR": 0,
-    "PATCH": 3
+    "PATCH": 4
   },
   "KSP_VERSION": {
     "MAJOR": 1,
diff --git a/InfernalRobotics/.vs/InfernalRobotics/InfernalRobotics.scgdat b/InfernalRobotics/.vs/InfernalRobotics/InfernalRobotics.scgdat
index 3e3d29a1..b8a3afb8 100644
Binary files a/InfernalRobotics/.vs/InfernalRobotics/InfernalRobotics.scgdat and b/InfernalRobotics/.vs/InfernalRobotics/InfernalRobotics.scgdat differ
diff --git a/InfernalRobotics/InfernalRobotics/Command/ServoController.cs b/InfernalRobotics/InfernalRobotics/Command/ServoController.cs
index f561aa2f..c3ffee1d 100644
--- a/InfernalRobotics/InfernalRobotics/Command/ServoController.cs
+++ b/InfernalRobotics/InfernalRobotics/Command/ServoController.cs
@@ -348,13 +348,16 @@ public static void SetWheelAutoStruts(bool value, Vessel v)
             var activeVesselWheels = v.FindPartModulesImplementing<ModuleWheelBase>();
             foreach(var mwb in activeVesselWheels)
             {
-                mwb.autoStrut = value;
                 if (value)
                 {
-                    mwb.CycleWheelStrut();
+                    if(!mwb.autoStrut) //we only need to Cycle once
+                        mwb.CycleWheelStrut();
                 }
                 else
                     mwb.ReleaseWheelStrut();
+
+                mwb.autoStrut = value;
+
             }
         }
 
@@ -370,6 +373,9 @@ private void FixedUpdate()
                     loadedVesselCounter = FlightGlobals.Vessels.Count(v => v.loaded);
                 }
 
+                if (ServoGroups == null)
+                    return;
+
                 //check if all servos stopped running and enable the struts, otherwise disable wheel autostruts
                 var anyActive = new Dictionary<Vessel, bool>();
 
diff --git a/InfernalRobotics/InfernalRobotics/Gui/WindowManager.cs b/InfernalRobotics/InfernalRobotics/Gui/WindowManager.cs
index dc751736..28a15878 100644
--- a/InfernalRobotics/InfernalRobotics/Gui/WindowManager.cs
+++ b/InfernalRobotics/InfernalRobotics/Gui/WindowManager.cs
@@ -1411,6 +1411,7 @@ public void ShowServoAdvancedMode(IServo servo, bool value)
             {
                 var servoToggle = servoControls.GetChild("ServoShowOtherFieldsToggle").GetComponent<Toggle>();
                 servoToggle.onValueChanged.Invoke(value);
+                servoToggle.isOn = value;
             }
         }
         public void RebuildUI()
diff --git a/InfernalRobotics/InfernalRobotics/Module/ModuleIRServo.cs b/InfernalRobotics/InfernalRobotics/Module/ModuleIRServo.cs
index 2d7bb480..b518438c 100644
--- a/InfernalRobotics/InfernalRobotics/Module/ModuleIRServo.cs
+++ b/InfernalRobotics/InfernalRobotics/Module/ModuleIRServo.cs
@@ -566,8 +566,8 @@ protected virtual void AttachToParent()
             if (rotateJoint)
             {
                 fix.RotateAround(transform.TransformPoint(rotatePivot), transform.TransformDirection(rotateAxis),
-                    (invertSymmetry ? ((part.symmetryCounterparts.Count != 1) ? -1 : 1) : -1) *
-                    rotation);
+                    //(invertSymmetry ? ((part.symmetryCounterparts.Count != 1) ? -1 : 1) : -1) *
+                    -rotation);
             }
             else if (translateJoint)
             {
@@ -1087,15 +1087,13 @@ protected virtual void UpdatePosition()
                     if (joint != null)
                     {
                         joint.targetRotation =
-                            Quaternion.AngleAxis(
-                                (invertSymmetry ? ((part.symmetryCounterparts.Count != 1) ? 1 : -1) : 1)*
-                                (rotation - rotationDelta), rotateAxis);
+                            Quaternion.AngleAxis((rotation - rotationDelta), rotateAxis);
                     }
                     else if (RotateModelTransform != null)
                     {
                         Quaternion curRot =
                             Quaternion.AngleAxis(
-                                (invertSymmetry ? ((part.symmetryCounterparts.Count != 1) ? 1 : -1) : 1)*
+                                //(invertSymmetry ? ((part.symmetryCounterparts.Count != 1) ? 1 : -1) : -1)* //obsolete
                                 rotation, rotateAxis);
                         RotateModelTransform.localRotation = curRot;
                     }
diff --git a/InfernalRobotics/InfernalRobotics/Properties/AssemblyInfo.cs b/InfernalRobotics/InfernalRobotics/Properties/AssemblyInfo.cs
index b0e657ff..c4ae9728 100644
--- a/InfernalRobotics/InfernalRobotics/Properties/AssemblyInfo.cs
+++ b/InfernalRobotics/InfernalRobotics/Properties/AssemblyInfo.cs
@@ -8,7 +8,7 @@
 [assembly: AssemblyTitle("InfernalRobotics")]
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyConfiguration("")]
-[assembly: AssemblyCompany("")]
+[assembly: AssemblyCompany("MagicSmokeIndustries")]
 [assembly: AssemblyProduct("InfernalRobotics")]
 [assembly: AssemblyCopyright("Copyright ©  2016")]
 [assembly: AssemblyTrademark("")]
@@ -35,5 +35,5 @@
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 
-[assembly: AssemblyVersion("2.0.0.0")]
-[assembly: AssemblyFileVersion("2.0.0.0")]
\ No newline at end of file
+[assembly: AssemblyVersion("2.0.4.0")]
+[assembly: AssemblyFileVersion("2.0.4.0")]
\ No newline at end of file