diff --git a/hwconf/hw_stormcore_100d.c b/hwconf/hw_stormcore_100d.c
index f38c7364..192c87bf 100644
--- a/hwconf/hw_stormcore_100d.c
+++ b/hwconf/hw_stormcore_100d.c
@@ -354,7 +354,7 @@ static THD_FUNCTION(mux_thread, arg) {
 
 
 		ENABLE_V_BATT_DIV();
-		chThdSleepMicroseconds(300);
+		chThdSleepMicroseconds(400);
 		ADC_Value[ADC_IND_V_BATT] = ADC_Value[ADC_IND_ADC_MUX];
 	}
 }
@@ -371,11 +371,15 @@ void smart_switch_keep_on(void) {
 }
 
 void smart_switch_shut_down(void) {
+	mc_interface_select_motor_thread(2);
+	mc_interface_set_current(0);
+	mc_interface_lock();
+	mc_interface_select_motor_thread(1);
+	mc_interface_set_current(0);
+	mc_interface_lock();
 	switch_state = SWITCH_SHUTTING_DOWN;
 	palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
-#ifdef HW_HAS_STORMCORE_SWITCH
 	palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
-#endif
 	return;
 }
 
@@ -405,7 +409,7 @@ static THD_FUNCTION(switch_color_thread, arg) {
 		utils_fast_sincos_better(angle + 6.28/3.0, &s, &c);
 		switch_red = 0.75* c*c;
 		ledpwm_set_intensity(LED_HW3,switch_bright*switch_red);
-		chThdSleepMilliseconds(10);
+		chThdSleepMilliseconds(4);
 	}
 	float switch_red_old = switch_red_old;
 	float switch_green_old = switch_green;
@@ -430,7 +434,7 @@ static THD_FUNCTION(switch_color_thread, arg) {
 		ledpwm_set_intensity(LED_HW1, switch_bright*blue_now);
 		ledpwm_set_intensity(LED_HW2, switch_bright*green_now);
 		ledpwm_set_intensity(LED_HW3, switch_bright*red_now);
-		chThdSleepMilliseconds(10);
+		chThdSleepMilliseconds(2);
 	}
 
 	for (;;) {
@@ -494,8 +498,28 @@ static THD_FUNCTION(smart_switch_thread, arg) {
 			break;
 		case SWITCH_TURN_ON_DELAY_ACTIVE:
 			switch_state = SWITCH_HELD_AFTER_TURN_ON;
-			chThdSleepMilliseconds(5000);
+			mc_interface_select_motor_thread(2);
+			mc_interface_set_current(0);
+			mc_interface_lock();
+			mc_interface_select_motor_thread(1);
+			mc_interface_set_current(0);
+			mc_interface_lock();
+			int cts = 0;
+			while((ADC_Value[ADC_IND_V_BATT] < 1 || ADC_Value[ADC_IND_VIN_SENS] < 1) && (cts < 50)){
+				chThdSleepMilliseconds(100);
+				cts++;
+			}
+			cts = 0;
+			while(((GET_BATT_VOLTAGE() - GET_INPUT_VOLTAGE()) > 8.0) && (cts < 50)){
+				chThdSleepMilliseconds(100);
+				cts++;
+			}
+
 			palSetPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
+			mc_interface_select_motor_thread(2);
+			mc_interface_unlock();
+			mc_interface_select_motor_thread(1);
+			mc_interface_unlock();
 			break;
 		case SWITCH_HELD_AFTER_TURN_ON:
 			smart_switch_keep_on();
diff --git a/hwconf/hw_stormcore_100d.h b/hwconf/hw_stormcore_100d.h
index 698cde63..331a4543 100644
--- a/hwconf/hw_stormcore_100d.h
+++ b/hwconf/hw_stormcore_100d.h
@@ -233,9 +233,11 @@
 #define CURRENT_SHUNT_RES		0.001
 #endif
 
+#define VBATT_R1					360000.0
+#define VBATT_R2					10000.0
 // Input voltage
 #define GET_INPUT_VOLTAGE()		((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
-#define GET_BATT_VOLTAGE()		((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_V_BATT] * ((VIN_R1 + VIN_R2) / VIN_R2))
+#define GET_BATT_VOLTAGE()		((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_V_BATT] * ((VBATT_R1 + VBATT_R2) / VBATT_R2))
 #define GET_VM_SENSE_VOLTAGE()	((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VM_SENSE] * ((VIN_R1 + VIN_R2) / VIN_R2))
 
 // Voltage on ADC channel
diff --git a/hwconf/hw_stormcore_60d.c b/hwconf/hw_stormcore_60d.c
index 90df3f08..79ac74d9 100644
--- a/hwconf/hw_stormcore_60d.c
+++ b/hwconf/hw_stormcore_60d.c
@@ -357,21 +357,19 @@ static THD_FUNCTION(mux_thread, arg) {
 
 void smart_switch_keep_on(void) {
 	palSetPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
-	//#ifdef HW_HAS_RGB_SWITCH
-	//	LED_SWITCH_B_ON();
-	//	ledpwm_set_intensity(SWITCH_LED_B, 1.0);
-	//#else
-	//	ledpwm_set_intensity(SWITCH_LED, 1.0);
-	//	ledpwm_set_switch_intensity(0.6);
-	//#endif
+
 }
 
 void smart_switch_shut_down(void) {
+	mc_interface_select_motor_thread(2);
+	mc_interface_set_current(0);
+	mc_interface_lock();
+	mc_interface_select_motor_thread(1);
+	mc_interface_set_current(0);
+	mc_interface_lock();
 	switch_state = SWITCH_SHUTTING_DOWN;
 	palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
-#ifdef HW_HAS_STORMCORE_SWITCH
 	palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
-#endif
 	return;
 }
 
@@ -401,7 +399,7 @@ static THD_FUNCTION(switch_color_thread, arg) {
 		utils_fast_sincos_better(angle + 6.28/3.0, &s, &c);
 		switch_red = 0.75* c*c;
 		ledpwm_set_intensity(LED_HW3,switch_bright*switch_red);
-		chThdSleepMilliseconds(10);
+		chThdSleepMilliseconds(4);
 	}
 	float switch_red_old = switch_red_old;
 	float switch_green_old = switch_green;
@@ -426,7 +424,7 @@ static THD_FUNCTION(switch_color_thread, arg) {
 		ledpwm_set_intensity(LED_HW1, switch_bright*blue_now);
 		ledpwm_set_intensity(LED_HW2, switch_bright*green_now);
 		ledpwm_set_intensity(LED_HW3, switch_bright*red_now);
-		chThdSleepMilliseconds(10);
+		chThdSleepMilliseconds(2);
 	}
 
 	for (;;) {
@@ -491,8 +489,28 @@ static THD_FUNCTION(smart_switch_thread, arg) {
 			break;
 		case SWITCH_TURN_ON_DELAY_ACTIVE:
 			switch_state = SWITCH_HELD_AFTER_TURN_ON;
-			chThdSleepMilliseconds(5000);
+			mc_interface_select_motor_thread(2);
+			mc_interface_set_current(0);
+			mc_interface_lock();
+			mc_interface_select_motor_thread(1);
+			mc_interface_set_current(0);
+			mc_interface_lock();
+			int cts = 0;
+			while((ADC_Value[ADC_IND_V_BATT] < 1 || ADC_Value[ADC_IND_VIN_SENS] < 1) && (cts < 50)){
+				chThdSleepMilliseconds(100);
+				cts++;
+			}
+			cts = 0;
+			while(((GET_BATT_VOLTAGE() - GET_INPUT_VOLTAGE()) > 8.0) && (cts < 50)){
+				chThdSleepMilliseconds(100);
+				cts++;
+			}
+
 			palSetPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
+			mc_interface_select_motor_thread(2);
+			mc_interface_unlock();
+			mc_interface_select_motor_thread(1);
+			mc_interface_unlock();
 			break;
 		case SWITCH_HELD_AFTER_TURN_ON:
 			smart_switch_keep_on();
diff --git a/hwconf/hw_stormcore_60d.h b/hwconf/hw_stormcore_60d.h
index 3f7a038c..38d5497b 100644
--- a/hwconf/hw_stormcore_60d.h
+++ b/hwconf/hw_stormcore_60d.h
@@ -378,6 +378,9 @@
 #ifndef MCCONF_M_DRV8301_OC_ADJ
 #define MCCONF_M_DRV8301_OC_ADJ		14
 #endif
+#ifndef MCCONF_L_DUTY_START
+#define MCCONF_L_DUTY_START			0.9 // Start limiting current at this duty cycle
+#endif
 #ifndef MCCONF_L_MAX_ABS_CURRENT
 #define MCCONF_L_MAX_ABS_CURRENT	200.0	// The maximum absolute current above which a fault is generated
 #endif
diff --git a/hwconf/hw_unity.h b/hwconf/hw_unity.h
index 24c6c5d8..9b68d5b1 100644
--- a/hwconf/hw_unity.h
+++ b/hwconf/hw_unity.h
@@ -17,9 +17,18 @@
 #ifndef HW_UNITY_H_
 #define HW_UNITY_H_
 
-#define HW_NAME									"UNITY"
-
+#ifdef HW_DUAL_CONFIG_PARALLEL
+#define HW_HAS_DUAL_PARALLEL
+#else
 #define HW_HAS_DUAL_MOTORS
+#endif
+
+#ifdef HW_HAS_DUAL_PARALLEL
+#define HW_NAME                 "UNITY_PARALLEL"
+#else
+#define HW_NAME                 "UNITY"
+#endif
+
 #define HW_HAS_DRV8301
 //#define HW_HAS_3_SHUNTS
 //#define HW_HAS_PHASE_SHUNTS
@@ -305,9 +314,22 @@
 #endif
 
 // Setting limits
-#define HW_LIM_CURRENT			-150.0, 150.0
-#define HW_LIM_CURRENT_IN		-120.0, 120.0
+#ifdef HW_HAS_DUAL_PARALLEL
+#define HW_LIM_CURRENT				-300.0, 300.0
+#define HW_LIM_CURRENT_ABS			800.0, 804.0
+#define HW_LIM_CURRENT_IN		-200.0, 200.0
+#ifndef MCCONF_L_MAX_ABS_CURRENT
+#define MCCONF_L_MAX_ABS_CURRENT	400.0	// The maximum absolute current above which a fault is generated
+#endif
+#else
+#define HW_LIM_CURRENT				-150.0, 150.0
 #define HW_LIM_CURRENT_ABS		400.0, 402.0
+#define HW_LIM_CURRENT_IN		-100.0, 100.0
+#ifndef MCCONF_L_MAX_ABS_CURRENT
+#define MCCONF_L_MAX_ABS_CURRENT	200.0	// The maximum absolute current above which a fault is generated
+#endif
+#endif
+
 #define HW_LIM_VIN				6.0, 59.0
 #define HW_LIM_ERPM				-200e3, 200e3
 #define HW_LIM_DUTY_MIN			0.0, 0.1