diff --git a/Firmware/Configuration_prusa.h b/Firmware/Configuration_prusa.h
index e13b8753..42f63c96 100644
--- a/Firmware/Configuration_prusa.h
+++ b/Firmware/Configuration_prusa.h
@@ -135,6 +135,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
 #define PLANNER_DIAGNOSTICS // Show the planner queue status on printer display.
 #endif /* DEBUG_BUILD */
 
+//#define EXPERIMENTAL_FEATURES
 
 /*------------------------------------
  TMC2130 default settings
diff --git a/Firmware/tmc2130.cpp b/Firmware/tmc2130.cpp
index 98ae11e1..cb6c5252 100644
--- a/Firmware/tmc2130.cpp
+++ b/Firmware/tmc2130.cpp
@@ -672,10 +672,10 @@ uint16_t tmc2130_get_res(uint8_t axis)
 void tmc2130_set_res(uint8_t axis, uint16_t res)
 {
 	tmc2130_mres[axis] = tmc2130_usteps2mres(res);
-	uint32_t u = micros();
+//	uint32_t u = micros();
 	tmc2130_setup_chopper(axis, tmc2130_mres[axis], tmc2130_current_h[axis], tmc2130_current_r[axis]);
-	u = micros() - u;
-	printf_P(PSTR("tmc2130_setup_chopper %c %lu us"), "XYZE"[axis], u);
+//	u = micros() - u;
+//	printf_P(PSTR("tmc2130_setup_chopper %c %lu us"), "XYZE"[axis], u);
 }
 
 uint8_t tmc2130_get_pwr(uint8_t axis)
@@ -948,7 +948,7 @@ uint8_t clusterize_uint8(uint8_t* data, uint8_t size, uint8_t* ccnt, uint8_t* cv
 	return ++cl;
 }
 
-void tmc2130_home_calibrate(uint8_t axis)
+bool tmc2130_home_calibrate(uint8_t axis)
 {
 	uint8_t step[16];
 	uint8_t cnt[16];
@@ -967,6 +967,7 @@ void tmc2130_home_calibrate(uint8_t axis)
 	printf_P(PSTR("result value: %d\n"), tmc2130_home_origin[axis]);
 	if (axis == X_AXIS) eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_X_ORIGIN, tmc2130_home_origin[X_AXIS]);
 	else if (axis == Y_AXIS) eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_Y_ORIGIN, tmc2130_home_origin[Y_AXIS]);
+	return true;
 }
 
 #endif //TMC2130
diff --git a/Firmware/tmc2130.h b/Firmware/tmc2130.h
index ee0ce1ba..6dd9f59d 100644
--- a/Firmware/tmc2130.h
+++ b/Firmware/tmc2130.h
@@ -119,6 +119,6 @@ extern void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t
 extern void tmc2130_get_wave(uint8_t axis, uint8_t* data, FILE* stream);
 extern void tmc2130_set_wave(uint8_t axis, uint8_t amp, uint8_t fac200);
 
-extern void tmc2130_home_calibrate(uint8_t axis);
+extern bool tmc2130_home_calibrate(uint8_t axis);
 
 #endif //TMC2130_H
\ No newline at end of file
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index aec66143..86af480b 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -3953,6 +3953,7 @@ static void lcd_selftest_()
 	lcd_selftest();
 }
 
+#ifdef EXPERIMENTAL_FEATURES
 
 static void lcd_experimantal_menu();
 static void lcd_homing_accuracy_menu();
@@ -4164,6 +4165,7 @@ static void lcd_experimantal_menu()
 	MENU_ITEM(submenu, PSTR("uStep linearity"), lcd_ustep_linearity_menu);
 	END_MENU();
 }
+#endif //EXPERIMENTAL_FEATURES
 
 
 static void lcd_calibration_menu()
@@ -5375,7 +5377,10 @@ static void lcd_main_menu()
 	#endif
 	MENU_ITEM(submenu, MSG_SETTINGS, lcd_settings_menu);
     if(!isPrintPaused) MENU_ITEM(submenu, MSG_MENU_CALIBRATION, lcd_calibration_menu);
+
+#ifdef EXPERIMENTAL_FEATURES
 	MENU_ITEM(submenu, PSTR("Experimantal"), lcd_experimantal_menu);
+#endif //EXPERIMENTAL_FEATURES
   }
 
   if (!is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
@@ -5940,10 +5945,13 @@ static bool lcd_selftest()
 	if (_result)
 	{
 		_progress = lcd_selftest_screen(13, 0, 2, true, 0);
-		tmc2130_home_calibrate(X_AXIS);
+		bool bres = tmc2130_home_calibrate(X_AXIS);
 		_progress = lcd_selftest_screen(13, 1, 2, true, 0);
-		tmc2130_home_calibrate(Y_AXIS);
+		bres &= tmc2130_home_calibrate(Y_AXIS);
 		_progress = lcd_selftest_screen(13, 2, 2, true, 0);
+		if (bres)
+			eeprom_update_byte((uint8_t*)EEPROM_TMC2130_HOME_ENABLED, 1);
+		_result = bres;
 	}
 
 	if (_result)