diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 1e12d4e..9bcddc8 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -11,7 +11,7 @@
 
 // Frequency limit
 // See nophead's blog for more info
-// Not working OK
+// Not working O
 //#define XY_FREQUENCY_LIMIT  15
 
 // Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
@@ -45,9 +45,9 @@
 // 5 is ParCan supplied 104GT-2 100K
 // 6 is EPCOS 100k
 // 7 is 100k Honeywell thermistor 135-104LAG-J01
-#define THERMISTORHEATER_0 3
-#define THERMISTORHEATER_1 3
-#define THERMISTORBED 3
+//#define THERMISTORHEATER_0 3
+//#define THERMISTORHEATER_1 3
+//#define THERMISTORBED 3
 
 //#define HEATER_0_USES_THERMISTOR
 //#define HEATER_1_USES_THERMISTOR
@@ -119,9 +119,15 @@
 //    #define  DEFAULT_Ki (2*Kp/PID_SWING_AT_CRITIAL*PID_dT)  
 //    #define  DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT)  
 
+// Ultitmaker
     #define  DEFAULT_Kp  22.2
     #define  DEFAULT_Ki (1.25*PID_dT)  
     #define  DEFAULT_Kd (99/PID_dT)  
+
+// Mendel Parts V9 on 12V    
+//    #define  DEFAULT_Kp  63.0
+//    #define  DEFAULT_Ki (2.25*PID_dT)  
+//    #define  DEFAULT_Kd (440/PID_dT)  
   #endif
    
   #ifdef PID_PI
@@ -140,13 +146,6 @@
 #endif // PIDTEMP
 
 
-
-
-
-
-
-
-
 //===========================================================================
 //=============================Mechanical Settings===========================
 //===========================================================================
@@ -177,10 +176,10 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
 //#define INVERT_Z_DIR false    // for Mendel set to false, for Orca set to true
 //#define INVERT_E_DIR true   // for direct drive extruder v9 set to true, for geared extruder set to false
 
-#define INVERT_X_DIR true    // for Mendel set to false, for Orca set to true
-#define INVERT_Y_DIR false   // for Mendel set to true, for Orca set to false
-#define INVERT_Z_DIR true    // for Mendel set to false, for Orca set to true
-#define INVERT_E_DIR false   // for direct drive extruder v9 set to true, for geared extruder set to false
+#define INVERT_X_DIR true     // for Mendel set to false, for Orca set to true
+#define INVERT_Y_DIR false    // for Mendel set to true, for Orca set to false
+#define INVERT_Z_DIR true     // for Mendel set to false, for Orca set to true
+#define INVERT_E_DIR false    // for direct drive extruder v9 set to true, for geared extruder set to false
 
 //// ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
@@ -243,13 +242,11 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
 // The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
 // this enables the watchdog interrupt.
 //#define USE_WATCHDOG
-#ifdef USE_WATCHDOG
+//#ifdef USE_WATCHDOG
   // you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
-  #define RESET_MANUAL
-  #define WATCHDOG_TIMEOUT 4  //seconds
-#endif
-
-
+//#define RESET_MANUAL
+//#define WATCHDOG_TIMEOUT 4  //seconds
+//#endif
 
 // extruder advance constant (s2/mm3)
 //
@@ -307,8 +304,7 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
 #define AUTOTEMP_FACTOR 1000.  //current target temperature= min+largest buffered espeeds)*FACTOR
 
 
-
-const int dropsegments=0; //everything with less than this number of steps  will be ignored as move and joined with the next movement
+const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
 
 //===========================================================================
 //=============================Buffers           ============================
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 18f382c..8dc8d08 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -240,10 +240,9 @@ void setup()
     axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
   }
 
-  
+  tp_init();    // Initialize temperature loop 
   plan_init();  // Initialize planner;
   st_init();    // Initialize stepper;
-  tp_init();    // Initialize temperature loop
   wd_init();
 }
 
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 2e23220..b08e61a 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -56,8 +56,8 @@ static unsigned long step_events_completed; // The number of step events execute
 #ifdef ADVANCE
   static long advance_rate, advance, final_advance = 0;
   static short old_advance = 0;
-  static short e_steps;
 #endif
+static short e_steps;
 static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
 static long acceleration_time, deceleration_time;
 //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
@@ -156,7 +156,7 @@ asm volatile ( \
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
 
 
-void endstops_triggered(const unsigned long &stepstaken)  
+inline void endstops_triggered(const unsigned long &stepstaken)  
 {
   //this will only work if there is no bufferig
   //however, if you perform a move at which the endstops should be triggered, and wait for it to complete, i.e. by blocking command, it should work
@@ -296,9 +296,9 @@ ISR(TIMER1_COMPA_vect)
       counter_z = counter_x;
       counter_e = counter_x;
       step_events_completed = 0;
-      #ifdef ADVANCE
+ //     #ifdef ADVANCE
       e_steps = 0;
-      #endif
+//      #endif
     } 
     else {
 //      DISABLE_STEPPER_DRIVER_INTERRUPT();
@@ -309,29 +309,6 @@ ISR(TIMER1_COMPA_vect)
     // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
     out_bits = current_block->direction_bits;
 
-    #ifdef ADVANCE
-        // Calculate E early.
-        counter_e += current_block->steps_e;
-        if (counter_e > 0) {
-          counter_e -= current_block->step_event_count;
-          if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
-            CRITICAL_SECTION_START;
-            e_steps--;
-            CRITICAL_SECTION_END;
-          }
-          else {
-            CRITICAL_SECTION_START;
-            e_steps++;
-            CRITICAL_SECTION_END;
-          }
-        }    
-        // Do E steps + advance steps
-        CRITICAL_SECTION_START;
-        e_steps += ((advance >> 16) - old_advance);
-        CRITICAL_SECTION_END;
-        old_advance = advance >> 16;  
-    #endif //ADVANCE
-
     // Set direction en check limit switches
     if ((out_bits & (1<<X_AXIS)) != 0) {   // -direction
       WRITE(X_DIR_PIN, INVERT_X_DIR);
@@ -339,10 +316,10 @@ ISR(TIMER1_COMPA_vect)
         count_direction[X_AXIS]=-1;
       #endif
       #if X_MIN_PIN > -1
-            if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
- //             endstops_triggered(step_events_completed);
-              step_events_completed = current_block->step_event_count;
-            }
+        if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
+ //         endstops_triggered(step_events_completed);
+          step_events_completed = current_block->step_event_count;
+        }
       #endif
     }
     else { // +direction 
@@ -355,7 +332,7 @@ ISR(TIMER1_COMPA_vect)
  //         endstops_triggered(step_events_completed);
           step_events_completed = current_block->step_event_count;
         }
-        #endif
+      #endif
     }
 
     if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
@@ -365,7 +342,7 @@ ISR(TIMER1_COMPA_vect)
       #endif
       #if Y_MIN_PIN > -1
         if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
- //         endstops_triggered(step_events_completed);
+//          endstops_triggered(step_events_completed);
           step_events_completed = current_block->step_event_count;
         }
       #endif
@@ -390,7 +367,7 @@ ISR(TIMER1_COMPA_vect)
       #endif
       #if Z_MIN_PIN > -1
         if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
-          endstops_triggered(step_events_completed);
+ //         endstops_triggered(step_events_completed);
           step_events_completed = current_block->step_event_count;
         }
       #endif
@@ -416,6 +393,30 @@ ISR(TIMER1_COMPA_vect)
     #endif //!ADVANCE
 
     for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) 
+    /*
+      counter_e += current_block->steps_e;
+      if (counter_e > 0) {
+        counter_e -= current_block->step_event_count;
+        if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
+          CRITICAL_SECTION_START;
+          e_steps--;
+          CRITICAL_SECTION_END;
+        }
+        else {
+          CRITICAL_SECTION_START;
+          e_steps++;
+          CRITICAL_SECTION_END;
+        }
+      }    
+      */
+      /*
+      // Do E steps + advance steps
+      CRITICAL_SECTION_START;
+      e_steps += ((advance >> 16) - old_advance);
+      CRITICAL_SECTION_END;
+      old_advance = advance >> 16;  
+      */
+        
       counter_x += current_block->steps_x;
       if (counter_x > 0) {
         WRITE(X_STEP_PIN, HIGH);
@@ -649,7 +650,8 @@ void st_init()
   TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
 
   OCR1A = 0x4000;
-  DISABLE_STEPPER_DRIVER_INTERRUPT();  
+  TCNT1 = 0;
+  ENABLE_STEPPER_DRIVER_INTERRUPT();  
 
   #ifdef ADVANCE
     e_steps = 0;
diff --git a/Marlin/watchdog.pde b/Marlin/watchdog.pde
index 6c883c9..7af540c 100644
--- a/Marlin/watchdog.pde
+++ b/Marlin/watchdog.pde
@@ -19,15 +19,15 @@ void(* ctrlaltdelete) (void) = 0; //does not work on my atmega2560
 /// intialise watch dog with a 1 sec interrupt time
 void wd_init() 
 {
-  WDTCSR = (1<<WDCE )|(1<<WDE ); //allow changes
-  WDTCSR = (1<<WDIF)|(1<<WDIE)| (1<<WDCE )|(1<<WDE )|  (1<<WDP2 )|(1<<WDP1)|(0<<WDP0);
+  WDTCSR |= (1<<WDCE )|(1<<WDE ); //allow changes
+  WDTCSR = (1<<WDCE )|(1<<WDE )|(1<<WDP3 )|(1<<WDP0); // Reset after 8 sec.
+//  WDTCSR = (1<<WDIF)|(1<<WDIE)| (1<<WDCE )|(1<<WDE )|  (1<<WDP3) | (1<<WDP0);
 }
 
 /// reset watchdog. MUST be called every 1s after init or avr will reset.
 void wd_reset() 
 {
   wdt_reset();
-  timeout_seconds=0; //reset counter for resets
 }
 
 //===========================================================================