diff --git a/Configuration.h b/Configuration.h
index 70e7fda..f5f6d28 100644
--- a/Configuration.h
+++ b/Configuration.h
@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.25"
-#define DATE "2013-11-28"
+#define VERSION "0.26"
+#define DATE "2013-11-29"
 #define LAST_AUTHOR "reprappro.com"
 
 // Other firmware that we might switch to be compatible with.
diff --git a/GCodes.cpp b/GCodes.cpp
index 5ffde15..3097ec1 100644
--- a/GCodes.cpp
+++ b/GCodes.cpp
@@ -519,6 +519,7 @@ bool GCodes::DoHome()
 			if(DoCannedCycleMove(true))
 			{
 				homeX = false;
+				homeAxisFinalMove = false;
 				return NoHome();
 			}
 		}
@@ -552,6 +553,7 @@ bool GCodes::DoHome()
 			if(DoCannedCycleMove(true))
 			{
 				homeY = false;
+				homeAxisFinalMove = false;
 				return NoHome();
 			}
 		}
@@ -584,6 +586,7 @@ bool GCodes::DoHome()
 
 	checkEndStops = false;
 	moveAvailable = false;
+	homeAxisFinalMove = false;
 
 	return true;
 }
@@ -1182,6 +1185,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     case 28: // Home
       if(NoHome())
       {
+    	homeAxisFinalMove = false;
         homeX = gb->Seen(gCodeLetters[X_AXIS]);
         homeY = gb->Seen(gCodeLetters[Y_AXIS]);
         homeZ = gb->Seen(gCodeLetters[Z_AXIS]);
@@ -1561,6 +1565,10 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
          snprintf(reply, STRING_LENGTH, "Writing to file: %s", str);
      	break;
 
+    case 561:
+    	reprap.GetMove()->SetIdentityTransform();
+    	break;
+
     case 906: // Set Motor currents
     	for(uint8_t i = 0; i < DRIVES; i++)
     	{
diff --git a/Move.cpp b/Move.cpp
index ab3eec7..fd14e73 100644
--- a/Move.cpp
+++ b/Move.cpp
@@ -258,9 +258,11 @@ void Move::Spin()
   platform->ClassReport("Move", longWait);
 }
 
+// These are the actual numbers we want in the positions, so don't transform them.
+
 void Move::SetPositions(float move[])
 {
-	Transform(move);
+	//Transform(move);
 	for(uint8_t drive = 0; drive < DRIVES; drive++)
 		lastMove->SetDriveCoordinateAndZeroEndSpeed(move[drive], drive);
 	lastMove->SetFeedRate(move[DRIVES]);
diff --git a/Move.h b/Move.h
index dee4453..97c246c 100644
--- a/Move.h
+++ b/Move.h
@@ -159,6 +159,7 @@ class Move
     void HitLowStop(int8_t drive, LookAhead* la, DDA* hitDDA);
     void HitHighStop(int8_t drive, LookAhead* la, DDA* hitDDA);
     void SetPositions(float move[]);
+    void SetLiveCoordinates(float coords[]);
     void SetXBedProbePoint(int index, float x);
     void SetYBedProbePoint(int index, float y);
     void SetZBedProbePoint(int index, float z);
@@ -174,8 +175,8 @@ class Move
     void InverseTransform(float move[]);
     void Diagnostics();
     float ComputeCurrentCoordinate(int8_t drive, LookAhead* la, DDA* runningDDA);
-    void SetLiveCoordinates(float coords[]);
     
+
     friend class DDA;
 
 //  protected:
@@ -388,11 +389,15 @@ inline void Move::LiveCoordinates(float m[])
 	InverseTransform(m);
 }
 
+
+// These are the actual numbers that we want to be the coordinates, so
+// don't transform them.
+
 inline void Move::SetLiveCoordinates(float coords[])
 {
 	for(int8_t drive = 0; drive <= DRIVES; drive++)
 		liveCoordinates[drive] = coords[drive];
-	Transform(liveCoordinates);
+	//Transform(liveCoordinates);
 }
 
 // To wait until all the current moves in the buffers are
diff --git a/Platform.h b/Platform.h
index de1d9e4..376b903 100644
--- a/Platform.h
+++ b/Platform.h
@@ -125,7 +125,7 @@ Licence: GPL
 #define STANDBY_TEMPERATURES {ABS_ZERO, ABS_ZERO} // We specify one for the bed, though it's not needed
 #define ACTIVE_TEMPERATURES {ABS_ZERO, ABS_ZERO}
 #define COOLING_FAN_PIN 34
-#define HEAT_ON 1 // 0 for inverted heater (eg Duet v0.6)
+#define HEAT_ON 0 // 0 for inverted heater (eg Duet v0.6)
 
 #define AD_RANGE 1023.0//16383 // The A->D converter that measures temperatures gives an int this big as its max value
 
diff --git a/Release/RepRapFirmware.bin b/Release/RepRapFirmware.bin
index 290e4fc..0988559 100755
Binary files a/Release/RepRapFirmware.bin and b/Release/RepRapFirmware.bin differ
diff --git a/SD-image/sys/config.g b/SD-image/sys/config.g
index d2d368a..5fd2ff1 100644
--- a/SD-image/sys/config.g
+++ b/SD-image/sys/config.g
@@ -3,7 +3,7 @@
 M111 S1; Debug on
 M550 POrmerod; Set the machine's name
 M551 Preprap; Set the password
-M552 P192.168.0.14; Set the IP address
+M552 P192.168.1.14; Set the IP address
 M555 P2
 M92 E420
 G21 ; Work in mm
@@ -11,4 +11,4 @@ G90 ; Absolute positioning
 M83 ; Extrusions relative
 G31 Z0.0 P500 ; Set Z probe height and threshold
 M906 X800 Y800 Z800 E800 ; Motor currents (mA)
-T0 ; Select extruder 0
\ No newline at end of file
+T0 ; Select extruder 0