diff --git a/.github/actions/release-firmware/action.yml b/.github/actions/release-firmware/action.yml
new file mode 100644
index 000000000..0ce949daf
--- /dev/null
+++ b/.github/actions/release-firmware/action.yml
@@ -0,0 +1,57 @@
+name: 'Release Firmware'
+description: 'Compiles the firmware for the specified board version and uploads it to a GitHub release url'
+inputs:
+  board_version:
+    required: true
+  url:
+    required: true
+  token:
+    required: true
+runs:
+  using: "composite"
+  steps: 
+    - name: Compile for ODrive ${{ inputs.board_version }}
+      shell: bash
+      run: |
+        # for debugging
+        arm-none-eabi-gcc --version
+        python3 --version
+
+        cd ${{ github.workspace }}/Firmware
+
+        echo "CONFIG_STRICT=true" > tup.config
+        echo "CONFIG_BOARD_VERSION=${{ inputs.board_version }}" >> tup.config
+        tup init
+        tup generate ./tup_build.sh
+        bash -xe ./tup_build.sh
+    
+    - name: Upload ELF file
+      shell: bash
+      run: |
+        urls=( ${{ inputs.url }} )
+        URL="${urls[0]}=ODriveFirmware_${{ inputs.board_version }}.elf"
+        echo "uploading to $URL"
+
+        curl --silent --show-error --fail \
+          -H "Content-Type: application/octet-stream" \
+          -H "Authorization: token ${{ inputs.token }}" \
+          --data-binary @"Firmware/build/ODriveFirmware.elf" \
+          "$URL"
+    
+    - name: Upload HEX file
+      shell: bash
+      run: |
+        urls=( ${{ inputs.url }} )
+        URL="${urls[0]}=ODriveFirmware_${{ inputs.board_version }}.hex"
+        echo "uploading to $URL"
+        
+        curl --silent --show-error --fail \
+          -H "Content-Type: application/octet-stream" \
+          -H "Authorization: token ${{ inputs.token }}" \
+          --data-binary @"Firmware/build/ODriveFirmware.hex" \
+          "$URL"
+
+    # This is required to make the action repeatable
+    - name: Clean up
+      shell: bash
+      run: git clean -dffx
diff --git a/.github/workflows/compile.yaml b/.github/workflows/compile.yaml
index a433132f2..6ca4a333e 100644
--- a/.github/workflows/compile.yaml
+++ b/.github/workflows/compile.yaml
@@ -58,7 +58,7 @@ jobs:
         if: startsWith(matrix.os, 'macOS-')
         run: |
           brew install armmbed/formulae/arm-none-eabi-gcc
-          brew cask install osxfuse && brew install tup
+          brew install --cask osxfuse && brew install tup
           pip3 install PyYAML Jinja2 jsonschema
 
         
@@ -76,7 +76,7 @@ jobs:
         run: |
           Invoke-WebRequest -Uri "http://gittup.org/tup/win32/tup-latest.zip" -OutFile ".\tup-latest.zip"
           Expand-Archive ".\tup-latest.zip" -DestinationPath ".\tup-latest" -Force
-          echo "::add-path::$(Resolve-Path .)\tup-latest"
+          echo "$(Resolve-Path .)\tup-latest" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
 
           choco install gcc-arm-embedded # downloads https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/gcc-arm-none-eabi-9-2019-q4-major-win32.zip
           
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
new file mode 100644
index 000000000..0be5fc108
--- /dev/null
+++ b/.github/workflows/release.yaml
@@ -0,0 +1,109 @@
+name: Create Release Draft
+
+on:
+  push:
+    tags: ['fw-v*']
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: true
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Parse Release Specs
+        id: release_specs
+        run: |
+          echo "github.ref = ${{ github.ref }}"
+
+          function get_version() { sed -E -n "s|.*([0-9]+\.[0-9]+\.[0-9]+).*|\1|p"; }
+
+          #LAST_VERSION="$(curl -s https://api.github.com/repos/madcowswe/ODrive/releases/latest | jq '.name' | get_version)"
+          #echo "previous version = $LAST_VERSION"
+
+          NEW_VERSION="$(echo "${{ github.ref }}" | get_version)"
+          echo "version = $NEW_VERSION"
+
+          ALL_TITLES="$(grep -E -n "^## .*[0-9]+\.[0-9]+\.[0-9]+" CHANGELOG.md)"
+
+          echo "I found the following version headers in the changelog:"
+          echo "$ALL_TITLES"
+
+          START_LINE="$(head -1 <<< "$ALL_TITLES" | cut -f 1 -d ':')"
+          END_LINE="$(head -2 <<< "$ALL_TITLES" | tail -1 | cut -f 1 -d ':')"
+
+          BODY="$(head -$(("$END_LINE" - 1)) CHANGELOG.md | tail +$(("$START_LINE" + 1)))"
+
+          IS_PRERELEASE="$(grep -F "$NEW_VERSION"-rc <<< "${{ github.ref }}" >/dev/null && echo true || echo false)"
+          echo "Is prerelease: $IS_PRERELEASE"
+
+          # The git tag is later read when packaging the python tools and
+          # compiling the firmware. We set it explicitly here in case the
+          # workflow was triggered by something other than a git tag.
+          git tag "${{ github.ref }}"
+          
+          # Escape BODY string to set it as GitHub Actions output
+          BODY="${BODY//'%'/'%25'}"
+          BODY="${BODY//$'\n'/'%0A'}"
+          BODY="${BODY//$'\r'/'%0D'}"
+
+          echo "::set-output name=body::$BODY"
+          echo "::set-output name=version::$NEW_VERSION"
+          echo "::set-output name=is_prerelease::$IS_PRERELEASE"
+
+      - name: Create Release Draft
+        id: create_release
+        uses: actions/create-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: ${{ github.ref }}
+          release_name: Firmware version ${{ steps.release_specs.outputs.version }}
+          body: ${{ steps.release_specs.outputs.body }}
+          draft: true # Only do a draft so we have a change to manually review
+                      # the release before it goes live.
+          prerelease: ${{ steps.release_specs.outputs.is_prerelease }}
+
+      - name: Install Prerequisites
+        run: |
+          sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
+          sudo add-apt-repository ppa:jonathonf/tup
+          sudo apt-get update
+          sudo apt-get install gcc-arm-embedded
+          sudo apt-get install tup
+          sudo apt install python3 python3-yaml python3-jinja2 python3-jsonschema
+
+      - name: Build Python Tools
+        run: |
+          cd ${{ github.workspace }}/tools
+          python setup.py sdist
+
+          cd dist
+          PKG_NAME="$(ls)"
+          if [ "$(wc -l <<< "$PKG_NAME")" != 1 ]; then
+            echo "Expected exactly one output file but got:"
+            ls
+            exit 1
+          fi
+
+          urls=( ${{ steps.create_release.outputs.upload_url }} )
+          URL="${urls[0]}=python-${PKG_NAME}"
+          echo "uploading to $URL"
+          
+          curl --silent --show-error --fail \
+            -H "Content-Type: application/octet-stream" \
+            -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
+            --data-binary @"${PKG_NAME}" \
+            "$URL"
+
+      # Run the action under .github/actions/release-firmware for every board version
+      #- {uses: ./.github/actions/release-firmware, with: {board-version: v3.2, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      #- {uses: ./.github/actions/release-firmware, with: {board-version: v3.3, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      #- {uses: ./.github/actions/release-firmware, with: {board-version: v3.4-24V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      #- {uses: ./.github/actions/release-firmware, with: {board-version: v3.4-48V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      - {uses: ./.github/actions/release-firmware, with: {board_version: v3.5-24V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      - {uses: ./.github/actions/release-firmware, with: {board_version: v3.5-48V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      - {uses: ./.github/actions/release-firmware, with: {board_version: v3.6-24V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
+      - {uses: ./.github/actions/release-firmware, with: {board_version: v3.6-56V, url: '${{ steps.create_release.outputs.upload_url }}', token: '${{ secrets.GITHUB_TOKEN }}' }}
diff --git a/.gitignore b/.gitignore
index c94fc787c..ae0519984 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,7 +4,7 @@ __pycache__/
 *$py.class
 
 # C extensions
-*.so
+#*.so
 
 # Unit test / coverage reports
 htmlcov/
@@ -31,8 +31,8 @@ target/
 .ipynb_checkpoints
 
 # Tup
-.tup
-tup.config
+#.tup
+#tup.config
 
 # Sphinx documentation
 /docs/_build/
@@ -48,21 +48,25 @@ tup.config
 /docs/.jekyll-metadata
 
 
-*.exe
+#*.exe
 
-ODrive\.config
+#ODrive\.config
 
-ODrive\.creator
+#ODrive\.creator
 
-ODrive\.creator\.user
+#ODrive\.creator\.user
 
-ODrive\.files
+#ODrive\.files
 
-ODrive\.includes
+#ODrive\.includes
 
-Firmware/Tests/bin/
+#Firmware/Tests/bin/
 
 # GUI
 GUI/dist_electron
 GUI/node_modules
-GUI/build
\ No newline at end of file
+GUI/build
+
+#hex
+!*.hex
+!Firmware/build/
diff --git a/Firmware/.tup/db b/Firmware/.tup/db
new file mode 100644
index 000000000..5e551ea92
Binary files /dev/null and b/Firmware/.tup/db differ
diff --git a/Firmware/.tup/object b/Firmware/.tup/object
new file mode 100644
index 000000000..e69de29bb
diff --git a/Firmware/.tup/shared b/Firmware/.tup/shared
new file mode 100644
index 000000000..e69de29bb
diff --git a/Firmware/.tup/tri b/Firmware/.tup/tri
new file mode 100644
index 000000000..e69de29bb
diff --git a/Firmware/.tup/vardict b/Firmware/.tup/vardict
new file mode 100644
index 000000000..afcade812
Binary files /dev/null and b/Firmware/.tup/vardict differ
diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 2c4659880..4a3093761 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -334,7 +334,7 @@ bool Encoder::abs_spi_init(){
     spi->Init.CLKPolarity = SPI_POLARITY_LOW;
     spi->Init.CLKPhase = SPI_PHASE_2EDGE;
     spi->Init.NSS = SPI_NSS_SOFT;
-    spi->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32;
+    spi->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; //slowed down from 32
     spi->Init.FirstBit = SPI_FIRSTBIT_MSB;
     spi->Init.TIMode = SPI_TIMODE_DISABLE;
     spi->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
@@ -342,6 +342,7 @@ bool Encoder::abs_spi_init(){
     if (mode_ == MODE_SPI_ABS_AEAT) {
         spi->Init.CLKPolarity = SPI_POLARITY_HIGH;
     }
+    reset_AMS = false;
     HAL_SPI_DeInit(spi);
     HAL_SPI_Init(spi);
     return true;
@@ -355,7 +356,11 @@ bool Encoder::abs_spi_start_transaction(){
             return false;
         }
         HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_RESET);
-        HAL_SPI_TransmitReceive_DMA(hw_config_.spi, (uint8_t*)abs_spi_dma_tx_, (uint8_t*)abs_spi_dma_rx_, 1);
+        if(reset_AMS){
+            HAL_SPI_TransmitReceive_DMA(hw_config_.spi, (uint8_t*)abs_spi_reset_enc, (uint8_t*)abs_spi_dma_rx_, 1);
+        }else{
+            HAL_SPI_TransmitReceive_DMA(hw_config_.spi, (uint8_t*)abs_spi_dma_tx_, (uint8_t*)abs_spi_dma_rx_, 1);
+        }
     }
     return true;
 }
@@ -386,7 +391,15 @@ void Encoder::abs_spi_cb(){
         case MODE_SPI_ABS_AMS: {
             uint16_t rawVal = abs_spi_dma_rx_[0];
             // check if parity is correct (even) and error flag clear
-            if (ams_parity(rawVal) || ((rawVal >> 14) & 1)) {
+            if (ams_parity(rawVal)) {
+                return;
+            }
+            if(((rawVal >> 14) & 1)){
+                reset_AMS = true;
+                return;
+            }
+            if(reset_AMS){
+                reset_AMS = false;
                 return;
             }
             pos = rawVal & 0x3fff;
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index d100d1681..c367f00ed 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -101,10 +101,13 @@ class Encoder : public ODriveIntf::EncoderIntf {
 
     bool abs_spi_init();
     bool abs_spi_start_transaction();
+    bool abs_spi_clear_AMS_error();
+    bool reset_AMS = false;
     void abs_spi_cb();
     void abs_spi_cs_pin_init();
     uint16_t abs_spi_dma_tx_[1] = {0xFFFF};
     uint16_t abs_spi_dma_rx_[1];
+    uint16_t abs_spi_reset_enc[1] = {0x0001 & (0x1 << 14)};
     bool abs_spi_pos_updated_ = false;
     Mode mode_ = MODE_INCREMENTAL;
     GPIO_TypeDef* abs_spi_cs_port_;
diff --git a/Firmware/ODriveFirmware.hex.firmware b/Firmware/ODriveFirmware.hex.firmware
new file mode 100644
index 000000000..d68c5761d
--- /dev/null
+++ b/Firmware/ODriveFirmware.hex.firmware
@@ -0,0 +1,14722 @@
+:020000040800F2
+:1000000000000220E1C20008496F0008856F000867
+:10001000996F00089D6F0008A16F000800000000A4
+:10002000000000000000000000000000F14B00088C
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+:100110003570000835C3000835C3000835C3000832
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+:1001500035C3000835C3000835C3000835C300089F
+:1001600035C3000835C3000835C3000835C300088F
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diff --git a/Firmware/Tupfile.lua b/Firmware/Tupfile.lua
index 7f5380aed..16ae5d0f1 100644
--- a/Firmware/Tupfile.lua
+++ b/Firmware/Tupfile.lua
@@ -150,7 +150,7 @@ OPT += '-ffast-math -fno-finite-math-only'
 tup.append_table(FLAGS, OPT)
 tup.append_table(LDFLAGS, OPT)
 
-toolchain = GCCToolchain('arm-none-eabi-', 'build', FLAGS, LDFLAGS)
+toolchain = GCCToolchain('~/gcc-arm/gcc-arm-none-eabi-10-2020-q4-major/bin/arm-none-eabi-', 'build', FLAGS, LDFLAGS)
 
 
 -- Load list of source files Makefile that was autogenerated by CubeMX
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 50c9d7cb6..5511c4d5e 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -509,7 +509,21 @@ interfaces:
           BrakeDeadtimeViolation:
           UnexpectedTimerCallback:
           CurrentSenseSaturation:
-          CurrentLimitViolation: {bit: 12}
+            brief: The phase current was outside the measurable range.
+            doc: |
+              There is a default 10% margin between the max allowed current and the measurable current range.
+              This is usually sufficent, but in some situations you may need some more margin. You can simply
+              decrease the `current_lim` a bit, or you can increase the `requested_current_range`. If you
+              still have issues after `requested_current_range` is 30% higher than `current_lim` then
+              you may have instability issues in the current controller.
+          CurrentLimitViolation:
+            bit: 12
+            brief: Motor current magnitude exceeded the limit and margin.
+            doc: |
+              There is a default of 8A margin between the `current_lim` and this error. In some
+              situations the current controller may overshoot a bit more than this, so you can try to
+              turn this up a bit. If you still have issues after the margin is more than 30% of your
+              `current_lim` you may have stability issues in the current controller.
           BrakeDutyCycleNan:
           DcBusOverRegenCurrent: {doc: too much current pushed into the power supply}
           DcBusOverCurrent: {doc: too much current pulled out of the power supply}
diff --git a/Firmware/tup.config b/Firmware/tup.config
new file mode 100644
index 000000000..aef68f367
--- /dev/null
+++ b/Firmware/tup.config
@@ -0,0 +1,10 @@
+# Copy this file to tup.config and adapt it to your needs
+# make sure this fits your board
+CONFIG_BOARD_VERSION=v3.6-56V
+CONFIG_USB_PROTOCOL=native
+CONFIG_UART_PROTOCOL=native
+CONFIG_DEBUG=false
+CONFIG_DOCTEST=false
+
+# Uncomment this to error on compilation warnings
+#CONFIG_STRICT=true
diff --git a/docs/_data/index.yaml b/docs/_data/index.yaml
index e76258a3a..1fca464e6 100644
--- a/docs/_data/index.yaml
+++ b/docs/_data/index.yaml
@@ -19,6 +19,8 @@ sections:
         url: /troubleshooting
       - title: Specifications
         url: /specifications
+      - title: Ground Loops
+        url: /ground-loops
   - title: Tutorials
     docs:
       - title: Hoverboard Guide
diff --git a/docs/developer-guide.md b/docs/developer-guide.md
index 7aee02872..fdeaf78db 100644
--- a/docs/developer-guide.md
+++ b/docs/developer-guide.md
@@ -276,9 +276,17 @@ We use GitHub Releases to provide firmware releases.
 
 1. Cut off the changelog to reflect the new release
 2. Merge the release candidate into master.
-3. Push a (lightweight) tag to the master branch. Follow the existing naming convention.
-4. Push the python tools to PyPI.
-5. Edit the release on GitHub to add a title and description (copy&paste from changelog).
+3. Push a (lightweight) tag to the master branch.
+   - Releases should be named like `fw-v0.1.23`
+   - Prereleases should be named like `fw-v0.1.23-rc` or `fw-v0.1.23-rc4`
+4. Go to the GitHub Releases page and review the draft that will have been created by a GitHub Action by now. If you're satisfied, go ahead and publish it by pressing Edit > **Publish Release**.
+5. Download `python-odrive-*.tar.gz` from the Releases page. The following step assumes that the version is `0.1.2`
+6. Run 
+   ```
+   mv {python-,}odrive-0.1.23.tar.gz
+   pip3 install twine
+   python3 -m twine upload odrive-0.1.23.tar.gz  # Only works once per version!
+   ```
 
 ## Other code maintenance notes
 The cortex M4F processor has hardware single precision float unit. However double precision operations are not accelerated, and hence should be avoided. The following regex is helpful for cleaning out double constants:
diff --git a/docs/encoders.md b/docs/encoders.md
index 835cd879b..a4d727690 100644
--- a/docs/encoders.md
+++ b/docs/encoders.md
@@ -154,7 +154,7 @@ One easy step that _might_ fix the noise on the Z input is to solder a 22nF-47nF
 Apart from (incremental) quadrature encoders, ODrive also supports absolute SPI encoders (since firmware v0.5). These usually measure an absolute angle. This means you don't need to repeat the encoder calibration after every ODrive reboot. Currently, the following modes are supported:
 
  * **CUI protocol**: Compatible with the AMT23xx family (AMT232A, AMT232B, AMT233A, AMT233B).
- * **AMS protocol**: Compatible with AS5047P and AS5048A/AS5048B.
+ * **AMS protocol**: Compatible with AS5047P and AS5048A.
 
 Some of these chips come with evaluation boards that can simplify mounting the chips to your motor. For our purposes if you are using an evaluation board you should select the settings for 3.3v.
 
diff --git a/docs/endstops.md b/docs/endstops.md
index 9dc84e6cc..3e361d5e8 100644
--- a/docs/endstops.md
+++ b/docs/endstops.md
@@ -90,7 +90,7 @@ After testing, don't forget to save and reboot:
 ---
 
 ## Homing Configuration
-There is one additional configuration parameter specifically for the homing process:
+There is one additional configuration parameter in `controller.config` specifically for the homing process:
 
 Name |  Type | Default
 --- | -- | -- 
@@ -98,6 +98,10 @@ homing_speed | float | 0.25f
 
 `homing_speed` is the axis travel speed during homing, in [turns/second].  If you are using SPI based encoders and the axis is homing in the wrong direction, you can enter a negative value for the homing speed and a negative value for the minimum endstop offset. 
 
+```
+# Set the homing speed to 0.25 turns / sec
+odrv0.axis0.controller.config.homing_speed = 0.25
+```
 
 ### Performing the Homing Sequence
 Homing is possible once the ODrive has closed-loop control over the axis.  To trigger homing, we must enter `AXIS_STATE_HOMING`. This starts the homing sequence, which works as follows:
diff --git a/docs/getting-started.md b/docs/getting-started.md
index 7784771c3..c31d33555 100644
--- a/docs/getting-started.md
+++ b/docs/getting-started.md
@@ -68,16 +68,20 @@ Connect the encoder(s) to J4. The A,B phases are required, and the Z (index puls
 <div class="alert">
  Always think safety before powering up the ODrive if motors are attached. Consider what might happen if the motor spins as soon as power is applied.
 </div>
+
 * Unlike some devices, the ODrive does not recieve power over the USB port so the 24/56 volt power input is required even just to communicate with it using USB. It is ok to power up the ODrive before or after connecting the USB cable.
+
 * To power up the ODrive, connect the power source to the DC terminals. Make sure to pay attention to the polarity. Try to connect the power source first and then turn it on to avoid inrush current. If this can't be avoided then a small spark is normal. This is caused by the capacitors charging up.
 
+* Make sure to avoid a ground loop! See the [ground loop page](ground-loops.md) for details.
+
 ## Downloading and Installing Tools
 Most instructions in this guide refer to a utility called `odrivetool`, so you should install that first.
 
 ### Windows
 1. Install Python 3. We recommend the Anaconda distribution because it packs a lot of useful scientific tools, however you can also install the standalone python.
   * __Anaconda__: Download the installer from [here](https://www.anaconda.com/download/#windows). Execute the downloaded file and follow the instructions.
-  * __Standalone Python__: Download the installer from [here](https://www.python.org/downloads/). Execute the downloaded file and follow the instructions.
+  * __Standalone Python__: Download the installer for 3.8.6 from [here](https://www.python.org/downloads/release/python-386/). Execute the downloaded file and follow the instructions.  As of Oct 2020, Matplotlib (required by odrivetool) had not been updated to work with 3.9, so please use 3.8.6.
   * If you have Python 2 installed alongside Python 3, replace `pip` by `C:\Users\YOUR_USERNAME\AppData\Local\Programs\Python\Python36-32\Scripts\pip`. If you have trouble with this step then refer to [this walkthrough](https://www.youtube.com/watch?v=jnpC_Ib_lbc).
 2. Launch the command prompt.
   * __Anaconda__: In the start menu, type `Anaconda Prompt` <kbd>Enter</kbd>
@@ -357,7 +361,7 @@ You can now control the velocity with `axis.controller.input_vel = 1` [turn/s].
 Set `axis.controller.config.control_mode = CONTROL_MODE_TORQUE_CONTROL`.<br>
 You can now control the torque with `axis.controller.input_torque = 0.1` [Nm].
 
-Note: If you exceed `vel_limit` in current control mode, the current is reduced. To disable this, set `axis.controller.enable_current_mode_vel_limit = False`.
+Note: If you exceed `vel_limit` in torque control mode, the current is reduced. To disable this, set `axis.controller.enable_current_mode_vel_limit = False`.
 
 ## Watchdog Timer
 Each axis has a configurable watchdog timer that can stop the motors if the
diff --git a/docs/ground-loops.md b/docs/ground-loops.md
new file mode 100644
index 000000000..4980863fd
--- /dev/null
+++ b/docs/ground-loops.md
@@ -0,0 +1,35 @@
+# Ground Loops
+
+For electrical devices to communicate, most of the time they require a common ground connection. Best practice is to connect the grounds back to a single point, called a "star ground". If there are multiple paths to ground, a "ground loop" is formed. Ground loops and wire inductance can cause issues for high current electronics like ODrive. As an example of what can go wrong, look at the diagram below.
+
+## The Problem
+
+![Ground Loop with inductance](ground_loop_bad.png)
+
+The issue is the inductance of the power wires between the ODrive and power supply. The inductance and the high current drawn by the ODrive causes V_1 to not be the same as V_2. If the voltage caused by the wire inductance and current is high enough, the 0-5V gpio signals can swing much higher or lower than the normal 0-5V range. This causes a current to flow through the ODrive GPIO pins. 
+
+## Solutions
+
+### Reduce Power Wire Inductance
+
+All wires have some amount of inductance. The inductance is proportional to the length of the wires and the area of the loop formed by the positive and negative power wires. It is beneficial to keep those wires as short as possible and as close together as possible. This reduces the effect of the problem but does not eliminate it!
+
+### Isolation
+
+To fix this, the ground loop must be broken. This can be achieved by isolating the power supplies (no common V-) and connecting a signal ground between the RPi and ODrive. An example of this is a single ODrive connected to a battery and a device like a RPi connected to a mains power supply or different battery. If more than one ODrive is in use and they share a power supply, you have a ground loop again.
+
+The best way to fix this is to isolate the data connection between the RPi and ODrive(s). The diagram below illustrates where the isolator should go.
+
+![Ground Loop fixed by isolator](ground_loop_fix.png)
+
+By isolating the data connection (whether it is GPIO, USB, or UART), the ground loop is broken. Isolation can be achieved by using a USB isolator or a signal isolator for GPIO connections.
+
+Here are some examples of USB isolators: [Isolator 1](https://www.aliexpress.com/item/33016336073.html?spm=a2g0s.9042311.0.0.57ec4c4dDADzZo), [Isolator 2](https://www.aliexpress.com/item/4000060726013.html?spm=a2g0s.9042311.0.0.57ec4c4dDADzZo). These are generic devices. If Aliexpress is not an option for you, you can probably find them available in your area from a different vendor. In the US, these types of isolators are available from Amazon and Ebay.
+
+For GPIO connections, like UART, Step/dir, PWM, etc, you can use signal isolators like the ISO7762F from Texas Instruments. Keep in mind that isolators have a speed limit. Devices like optocouplers might be too slow for UART connections or Step/direction. Check the datasheet!
+
+### Current Limiting
+
+If isolators are not an option, you can use series resistors to limit the injection current to a safe level. Place a resistor on the recieving side of all connections to or from the ODrive GPIO pins. 4.7kOhms is a good value, but anything from 3.3kOhms to 10kOhms should work. Series resistors offer some protection for the ODrive, but the ground loop problem can still cause the GPIOs to be pulled high or low for short periods of time. The ODrive and your other device will most likely be safe but communications might be interrupted.
+
+As an example, for UART, you would place a resistor close to the RX pin of the ODrive and another one close to the RX pin of the other device (like an Arduino). This allows the driving side, the TX pins, to adequately drive the bus capacitance.
diff --git a/docs/ground_loop_bad.png b/docs/ground_loop_bad.png
new file mode 100644
index 000000000..a88bba3d4
Binary files /dev/null and b/docs/ground_loop_bad.png differ
diff --git a/docs/ground_loop_fix.png b/docs/ground_loop_fix.png
new file mode 100644
index 000000000..266193839
Binary files /dev/null and b/docs/ground_loop_fix.png differ
diff --git a/docs/hoverboard.md b/docs/hoverboard.md
index 182b334fb..817106530 100644
--- a/docs/hoverboard.md
+++ b/docs/hoverboard.md
@@ -30,13 +30,16 @@ odrv0.axis0.motor.config.pole_pairs = 15
 
 Hoverboard hub motors are quite high resistance compared to the hobby aircraft motors, so we want to use a bit higher voltage for the motor calibration, and set up the current sense gain to be more sensitive. 
 The motors are also fairly high inductance, so we need to reduce the bandwidth of the current controller from the default to keep it stable.
+The KV rating of the motor also should be known. It can be measured using the "drill test", detailed [here](https://discourse.odriverobotics.com/t/project-hoverarm/441/2?u=madcowswe). If you can't perform this test, a typical value is 16.
+
 ```txt
 odrv0.axis0.motor.config.resistance_calib_max_voltage = 4
 odrv0.axis0.motor.config.requested_current_range = 25 #Requires config save and reboot
 odrv0.axis0.motor.config.current_control_bandwidth = 100
+odrv0.axis0.motor.config.torque_constant = 8.27 / <measured KV>
 ```
 
-Set the encoder to hall mode (instead of incremental). See the [pinout](encoders.md#hall-effect-encoders) for instructions on how to plug in the hall feedback.
+If you set the encoder to hall mode (instead of incremental). See the [pinout](encoders.md#hall-effect-encoders) for instructions on how to plug in the hall feedback.
 The hall feedback has 6 states for every pole pair in the motor. Since we have 15 pole pairs, we set the cpr to 15*6 = 90.
 ```txt
 odrv0.axis0.encoder.config.mode = ENCODER_MODE_HALL
@@ -46,12 +49,14 @@ odrv0.axis0.encoder.config.cpr = 90
 Since the hall feedback only has 90 counts per revolution, we want to reduce the velocity tracking bandwidth to get smoother velocity estimates.
 We can also set these fairly modest gains that will be a bit sloppy but shouldn't shake your rig apart if it's built poorly. Make sure to tune the gains up when you have everything else working to a stiffness that is applicable to your application.
 Lets also start in velocity control mode since that is probably what you want for a wheeled robot. Note that in velocity mode `pos_gain` isn't used but I have given you a recommended value anyway in case you wanted to run position control mode.
+
+* Note: The gains used here are dependent on the `torque_constant` and `cpr` config settings. The values for hoverboard motors are *very different* from the stock settings. Do not skip the above steps and go straight to these settings!
 ```txt
 odrv0.axis0.encoder.config.bandwidth = 100
 odrv0.axis0.controller.config.pos_gain = 1
-odrv0.axis0.controller.config.vel_gain = 0.02
-odrv0.axis0.controller.config.vel_integrator_gain = 0.1
-odrv0.axis0.controller.config.vel_limit = 1000
+odrv0.axis0.controller.config.vel_gain = 0.02 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
+odrv0.axis0.controller.config.vel_integrator_gain = 0.1 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
+odrv0.axis0.controller.config.vel_limit = 10
 odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
 ```
 
@@ -112,7 +117,7 @@ The ODrive starts in idle (we will look at changing this later) so we can enable
 odrv0.save_configuration()
 odrv0.reboot()
 odrv0.axis0.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
-odrv0.axis0.controller.input_vel = 120
+odrv0.axis0.controller.input_vel = 2
 # Your motor should spin here
 odrv0.axis0.controller.input_vel = 0
 odrv0.axis0.requested_state = AXIS_STATE_IDLE
@@ -126,12 +131,12 @@ Lets use GPIO 3/4 for the velocity inputs so that we don't have to disable UART.
 Then let's map the full stick range of these inputs to some suitable velocity setpoint range.
 We also have to reboot to activate the PWM input.
 ```txt
-odrv0.config.gpio3_pwm_mapping.min = -200
-odrv0.config.gpio3_pwm_mapping.max = 200
+odrv0.config.gpio3_pwm_mapping.min = -2
+odrv0.config.gpio3_pwm_mapping.max = 2
 odrv0.config.gpio3_pwm_mapping.endpoint = odrv0.axis0.controller._remote_attributes['input_vel']
 
-odrv0.config.gpio4_pwm_mapping.min = -200
-odrv0.config.gpio4_pwm_mapping.max = 200
+odrv0.config.gpio4_pwm_mapping.min = -2
+odrv0.config.gpio4_pwm_mapping.max = 2
 odrv0.config.gpio4_pwm_mapping.endpoint = odrv0.axis1.controller._remote_attributes['input_vel']
 
 odrv0.save_configuration()
@@ -141,19 +146,19 @@ odrv0.reboot()
 Now we can check that the sticks are writing to the velocity setpoint. Move the stick, print `input_vel`, move to a different position, check again.
 ```txt
 In [1]: odrv0.axis1.controller.input_vel
-Out[1]: 0.1904754638671875
+Out[1]: 0.01904754638671875
 
 In [2]: odrv0.axis1.controller.input_vel
-Out[2]: 0.1904754638671875
+Out[2]: 0.01904754638671875
 
 In [3]: odrv0.axis1.controller.input_vel
-Out[3]: 28.152389526367188
+Out[3]: 1.152389526367188
 
 In [4]: odrv0.axis1.controller.input_vel
-Out[4]: 61.21905517578125
+Out[4]: 1.81905517578125
 
 In [5]: odrv0.axis1.controller.input_vel
-Out[5]: -52.990474700927734
+Out[5]: -0.990474700927734
 ```
 
 Ok, now we should be able to turn on the drive and control the wheels!
diff --git a/docs/odrivetool.md b/docs/odrivetool.md
index 352f6dc4d..17794e097 100644
--- a/docs/odrivetool.md
+++ b/docs/odrivetool.md
@@ -98,12 +98,28 @@ To compile firmware from source, refer to the [developer guide](developer-guide)
   </div></details>
 
 ### Upgrading firmware with a different DFU tool
-Some people have had issues using the python dfu tool, so below is a guide on how to manually use a different tool.
+Some people have had issues using the python dfu tool, so below is a guide on how to manually use different tools.
 
-Before starting the below steps, you need to get firmware binary. You can download one of the officially released firmware files from [here](https://github.com/madcowswe/ODrive/releases). Make sure you select the file that matches your board version, and that you get the __.hex__ file (not the __.elf__ file).
+Before starting the below steps, you need to get firmware binary. You can download one of the officially released firmware files from [here](https://github.com/madcowswe/ODrive/releases). Make sure you select the file that matches your board version. On Windows you will need one of the __.hex__ files, and for Linux and Mac you will want the __.elf__ file.
 
 To compile firmware from source, refer to the [developer guide](developer-guide).
 
+#### Multi-platform
+ST has a tool called STM32CubeProgrammer.
+
+1. Download the tool [here](https://www.st.com/en/development-tools/stm32cubeprog.html). You will need to make an account with ST to download the tool.
+1. Install the tool. On Windows, make sure to let it make a desktop shortcut.
+1. Force the ODrive into DFU mode, as per the instructions above titled "How to force DFU mode".
+1. Launch the tool.
+1. Under "Memory & File edition", there are two tabs called "Device memory" and "Open file". Click "Open file" and choose the ODrive firmware hex file that you downloaded or compiled.
+1. In the top right, there is a dropdown menu containing the different methods to connect to an STM32 device. Choose "USB".
+1. Under "USB configuration", a USB port should be automatically selected and the ODrive serial number should be present next to "Serial number."
+1. Click "Connect" above "USB configuration".
+1. Click the tab with the name of your firmware file (example: ODriveFirmware_v3.6-56V.hex) if it is not already selected.
+1. Click "Download" to flash your ODrive with the firmware. Your ODrive is now flashed!
+1. Close STM32CubeProgrammer.
+1. Turn off the power to the ODrive and set the DIP swtich back to RUN mode.
+
 #### Windows
 You can use the DfuSe app from ST.
 
@@ -157,6 +173,7 @@ Install `dfu-util`:
 $ sudo port install dfu-util   # via MacPorts; for HomeBrew use "brew install dfu-util"
 ```
 
+Put the ODrive into DFU mode using the DIP switch, then turn it on and plug in the USB.
 Find the correct device serial number to use:
 
 ```text
diff --git a/docs/specifications.md b/docs/specifications.md
index bf6c8e332..45f3b6426 100644
--- a/docs/specifications.md
+++ b/docs/specifications.md
@@ -10,7 +10,7 @@ Note: ODrive versions after v3.5 are closed-source with respect to board files a
 - Max continuous current depends on cooling. See [this](https://discourse.odriverobotics.com/t/odrive-mosfet-temperature-rise-measurements-using-the-onboard-thermistor/972) for more details.
     - Heatsink in still air: 40A per channel
     - Heatsink with basic fan cooling: 75A per channel
-    - Heatsing with overkill fan cooling: 90A per channel
+    - Heatsink with overkill fan cooling: 90A per channel
 - Max motor RPM: This depends on your power supply voltage, motor, and encoder. It is the lesser of: 
     - motor RPM limit
     - encoder RPM limit
@@ -26,4 +26,4 @@ The electrical schematic for ODrive v3.5 is available [here](https://github.com/
 A step file for ODrive v3.5 is available [here](https://github.com/madcowswe/ODriveHardware/blob/master/v3/v3.5docs/PCB_v3.5.step)
 
 ### Board outline and mounting hole dimensions
-![board dimensions](https://raw.githubusercontent.com/madcowswe/ODriveHardware/master/v3/v3.5docs/mech_dimensions.PNG)
\ No newline at end of file
+![board dimensions](https://raw.githubusercontent.com/madcowswe/ODriveHardware/master/v3/v3.5docs/mech_dimensions.PNG)
diff --git a/docs/step-direction.md b/docs/step-direction.md
index 4e562696a..459c869f9 100644
--- a/docs/step-direction.md
+++ b/docs/step-direction.md
@@ -9,6 +9,6 @@ To enable step/dir mode for the GPIO, set `<axis>.config.enable_step_dir` to tru
 Axis 0 step/dir pins conflicts with UART, and the UART takes priority. So to be able to use step/dir on Axis 0, you must also set `odrv0.config.enable_uart = False`. See the [pin function priorities](pinout.md#pin-function-priorities) for more detail. Don't forget to save configuration and reboot.
 
 There is also a config variable called `<axis>.config.turns_per_step`, which specifies how many turns a "step" corresponds to. The default value is 1.0f/1024.0f. It can be any floating point value.
-The maximum step rate is pending tests, but it should handle at least 50kHz. If you want to test it, please be aware that the failure mode on too high step rates is expected to be that the motors shuts down and coasts.
+The recommended maximum step rate is 50kHz
 
-Please be aware that there is no enable line right now, and the step/direction interface is enabled by default, and remains active as long as the ODrive is in position control mode. To get the ODrive to go into position control mode at bootup, see how to configure the [startup procedure](commands.md#startup-procedure).
\ No newline at end of file
+Please be aware that there is no enable line right now, and the step/direction interface is enabled by default, and remains active as long as the ODrive is in position control mode. To get the ODrive to go into position control mode at bootup, see how to configure the [startup procedure](commands.md#startup-procedure).
diff --git a/tools/odrive/version.py b/tools/odrive/version.py
index 23b38b935..73bd8166d 100644
--- a/tools/odrive/version.py
+++ b/tools/odrive/version.py
@@ -30,7 +30,7 @@ def get_version_from_git():
         # Determine the current git commit version
         git_tag = subprocess.check_output(["git", "describe", "--always", "--tags", "--dirty=*"],
             cwd=script_dir)
-        git_tag = git_tag.decode(sys.stdout.encoding).rstrip('\n')
+        git_tag = git_tag.decode(sys.stdout.encoding or 'ascii').rstrip('\n')
 
         (major, minor, revision, is_prerelease) = version_str_to_tuple(git_tag)