diff --git a/flight/EntireFlash/Makefile b/flight/EntireFlash/Makefile
index 548461a24..13aae597d 100644
--- a/flight/EntireFlash/Makefile
+++ b/flight/EntireFlash/Makefile
@@ -33,16 +33,23 @@ OUTDIR := $(TOP)/build/$(TARGET)
 .PHONY: bin
 bin: $(OUTDIR)/$(TARGET).bin
 
-FW_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
-$(OUTDIR)/$(TARGET).pad:
+FW_PRE_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
+$(OUTDIR)/$(TARGET).fw_pre.pad:
 	$(V0) @echo $(MSG_PADDING) $@
-	$(V1) dd status=noxfer if=/dev/zero count=$(FW_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
+	$(V1) dd status=noxfer if=/dev/zero count=$(FW_PRE_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
+
+FW_POST_PAD = $(shell echo $$[$(FW_BANK_SIZE)-$(FW_DESC_SIZE)-$$(stat -c%s $(FW_BIN))])
+$(OUTDIR)/$(TARGET).fw_post.pad:
+	$(V0) @echo $(MSG_PADDING) $@
+	$(V1) dd status=noxfer if=/dev/zero count=$(FW_POST_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
+
 
 BL_BIN = $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
 FW_BIN = $(TOP)/build/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
-$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).pad
+FWINFO_BIN = $(FW_BIN).firmwareinfo.bin
+$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(OUTDIR)/$(TARGET).fw_post.pad
 	$(V0) @echo $(MSG_FLASH_IMG) $@
-	$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).pad $(FW_BIN) > $@
+	$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(FW_BIN) $(OUTDIR)/$(TARGET).fw_post.pad $(FWINFO_BIN) > $@
 
 .PHONY: dfu
 dfu: $(OUTDIR)/$(TARGET).bin
diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index baa0c5453..6b0c16cec 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -420,6 +420,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
 		gyrosData->z += gyro_correct_int[2];
 	}
 
+	// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
+	// and make it average zero (weakly)
+	gyro_correct_int[2] += - gyrosData->z * yawBiasRate;
+
 	GyrosSet(gyrosData);
 	AccelsSet(accelsData);
 
diff --git a/flight/Modules/Stabilization/stabilization.c b/flight/Modules/Stabilization/stabilization.c
index c4cc801e8..9aabff114 100644
--- a/flight/Modules/Stabilization/stabilization.c
+++ b/flight/Modules/Stabilization/stabilization.c
@@ -67,6 +67,7 @@
 
 enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX};
 
+
 // Private variables
 static xTaskHandle taskHandle;
 static StabilizationSettingsData settings;
@@ -391,6 +392,7 @@ static void ZeroPids(void)
 	for(uint32_t i = 0; i < PID_MAX; i++)
 		pid_zero(&pids[i]);
 
+
 	for(uint8_t i = 0; i < 3; i++)
 		axis_lock_accum[i] = 0.0f;
 }
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
index 777e09aa6..19f70959d 100644
--- a/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
@@ -75,6 +75,7 @@ SECTIONS
     {
 	. = ALIGN(4);
 	KEEP(*(.boardinfo))
+	. = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO));
     } > BD_INFO
 
     /* Stabs debugging sections.  */