diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index 3b77c51a..4b849416 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -586,6 +586,7 @@ void crashdet_stop_and_save_print()
 void crashdet_restore_print_and_continue()
 {
 	restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
+	babystep_apply();
 }
 
 
@@ -614,7 +615,7 @@ void fsensor_restore_print_and_continue()
 }
 
 
-bool fsensor_enabled = false;
+bool fsensor_enabled = true;
 bool fsensor_ignore_error = true;
 bool fsensor_M600 = false;
 long fsensor_prev_pos_e = 0;
@@ -1053,10 +1054,11 @@ void setup()
 		eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
 	}
 
-#ifndef DEBUG_DISABLE_STARTMSGS
 	check_babystep(); //checking if Z babystep is in allowed range
 	setup_uvlo_interrupt();
 	
+#ifndef DEBUG_DISABLE_STARTMSGS
+
   if (calibration_status() == CALIBRATION_STATUS_ASSEMBLED ||
       calibration_status() == CALIBRATION_STATUS_UNKNOWN) {
       // Reset the babystepping values, so the printer will not move the Z axis up when the babystepping is enabled.
@@ -5754,6 +5756,9 @@ case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp
 		MYSERIAL.print("selectedSerialPort = ");
 		MYSERIAL.println(selectedSerialPort, DEC);
 		break;
+	case 10: // D10 - Tell the printer that XYZ calibration went OK
+        calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST); 
+        break; 
 	case 999:
 	{
 		MYSERIAL.println("D999 - crash");
@@ -7298,7 +7303,7 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
 //	card.closefile();
 	saved_printing = true;
 	sei();
-	if ((z_move != 0) || (e_move != 0)) { // extruder and z move
+	if ((z_move != 0) || (e_move != 0)) { // extruder or z move
 #if 1
     // Rather than calling plan_buffer_line directly, push the move into the command queue, 
     char buf[48];
@@ -7332,7 +7337,7 @@ void restore_print_from_ram_and_continue(float e_move)
 	feedrate = saved_feedrate2; //restore feedrate
 	float e = saved_pos[E_AXIS] - e_move;
 	plan_set_e_position(e);
-	plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], homing_feedrate[Z_AXIS], active_extruder);
+	plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], saved_pos[Z_AXIS], saved_pos[E_AXIS], homing_feedrate[Z_AXIS]/10, active_extruder);
     st_synchronize();
   memcpy(current_position, saved_pos, sizeof(saved_pos));
   memcpy(destination, current_position, sizeof(destination));
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 6fe8adba..f320c952 100644
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -56,7 +56,7 @@ uint32_t tmc2130_sg_pos[4] = {0, 0, 0, 0};
 
 uint8_t sg_homing_axes_mask = 0x00;
 
-bool tmc2130_sg_stop_on_crash = false;
+bool tmc2130_sg_stop_on_crash = true;
 bool tmc2130_sg_crash = false;
 uint8_t tmc2130_diag_mask = 0x00;
 uint16_t tmc2130_sg_err[4] = {0, 0, 0, 0};
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 54b88ef2..77196d8b 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -105,9 +105,9 @@ int8_t SDscrool = 0;
 
 int8_t SilentModeMenu = 0;
 
-int8_t FSensorStateMenu = 0;
+int8_t FSensorStateMenu = 1;
 
-int8_t CrashDetectMenu = 0;
+int8_t CrashDetectMenu = 1;
 
 extern void fsensor_enable();
 extern void fsensor_disable();
@@ -3869,10 +3869,12 @@ static void lcd_main_menu()
 
  MENU_ITEM(back, MSG_WATCH, lcd_status_screen);
 
+#ifdef RESUME_DEBUG 
  if (!saved_printing) 
   MENU_ITEM(function, PSTR("tst - Save"), lcd_menu_test_save);
  else
   MENU_ITEM(function, PSTR("tst - Restore"), lcd_menu_test_restore);
+#ifdef //RESUME_DEBUG 
 
 #ifdef TMC2130_DEBUG
  MENU_ITEM(function, PSTR("recover print"), recover_print);