diff --git a/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy).hex b/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy).hex
index 419cf64530fabd98d295f76080dc696abc586fa7..ffb697cc4d829793304e773ccece6b1862cb57ba 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy).hex and b/AstroEQ-ConfigUtility/hex/AstroEQATMega162Based(Legacy).hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy).hex b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy).hex
index 7de02e01d0dcbf739c4fb2823e09893ce77261af..f284b37ee60710f03111be361c2b9df4fa8ea547 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy).hex and b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega1280(Legacy).hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy).hex b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy).hex
index 82065bcece7b615a9cb46dc679bce4fabdae7736..f427ab14e302d8743e043580579ce2be02cd7cb3 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy).hex and b/AstroEQ-ConfigUtility/hex/AstroEQArduinoMega2560(Legacy).hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits).hex b/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits).hex
index 0e1618ff3cc6cf29deb31c585dd48dee2c604dea..e04b59a71acf43fd081cc8c80ba5585b16794922 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits).hex and b/AstroEQ-ConfigUtility/hex/AstroEQV4-DIYBoard(includingKits).hex differ
diff --git a/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5Board.hex b/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5Board.hex
index 0e1618ff3cc6cf29deb31c585dd48dee2c604dea..e04b59a71acf43fd081cc8c80ba5585b16794922 100644
Binary files a/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5Board.hex and b/AstroEQ-ConfigUtility/hex/AstroEQV4-EQ5Board.hex differ
diff --git a/AstroEQ-Firmware/AstroEQ6.ino b/AstroEQ-Firmware/AstroEQ6.ino
index 6a8abed1520ea1871f9e6685fdcd5fa45a7907ae..177ae74edfbe1599f752b23cdf58b6be3623db5a 100644
--- a/AstroEQ-Firmware/AstroEQ6.ino
+++ b/AstroEQ-Firmware/AstroEQ6.ino
@@ -32,7 +32,7 @@ Synta synta = Synta::getInstance(1281); //create a mount instance, specify versi
 
 //#define DEBUG 1
 unsigned int normalGotoSpeed[2];
-unsigned int gotoFactor;
+unsigned int gotoFactor[2];
 unsigned int minSpeed[2];
 unsigned int stopSpeed[2];
 
@@ -119,10 +119,10 @@ void systemInitialiser(){
   modeState[STATE16][MODE1] = modeState[STATE16][MODE0];
 #endif
   
-  gotoFactor = EEPROM.readByte(RAGoto_Address);
-  normalGotoSpeed[RA] = synta.cmd.stepIncrement[RA] * gotoFactor + 1;
-  gotoFactor = EEPROM.readByte(DECGoto_Address);
-  normalGotoSpeed[DC] = synta.cmd.stepIncrement[DC] * gotoFactor + 1;
+  gotoFactor[RA] = EEPROM.readByte(RAGoto_Address);
+  normalGotoSpeed[RA] = synta.cmd.stepIncrement[RA] * gotoFactor[RA] + 1;
+  gotoFactor[DC] = EEPROM.readByte(DECGoto_Address);
+  normalGotoSpeed[DC] = synta.cmd.stepIncrement[DC] * gotoFactor[DC] + 1;
   
   minSpeed[RA] = synta.cmd.siderealIVal[RA] + ((unsigned int)synta.cmd.stepIncrement[RA] << 2);
   minSpeed[DC] = synta.cmd.siderealIVal[DC] + ((unsigned int)synta.cmd.stepIncrement[DC] << 2);
@@ -442,10 +442,10 @@ void gotoMode(byte axis){
   byte decelerationLength;
   if (halfHVal < 80) {
     decelerationLength = (byte)halfHVal;
-    if (gotoFactor < 4) {
+    if (gotoFactor[axis] < 4) {
       gotoSpeed += synta.cmd.stepIncrement[axis];
     }
-    if (gotoFactor < 8) {
+    if (gotoFactor[axis] < 8) {
       gotoSpeed += synta.cmd.stepIncrement[axis]; //for short goto's when goto speed is very high, use a slower target speed.
     }
   } else {
diff --git a/Downloads/AstroEQ6-ConfigUtility.zip b/Downloads/AstroEQ6-ConfigUtility.zip
index 4b0a42196458ff1224285ffec60250b679bb22aa..f59d66baeb5234d8e7406cdf844ff4e5769e70f0 100644
Binary files a/Downloads/AstroEQ6-ConfigUtility.zip and b/Downloads/AstroEQ6-ConfigUtility.zip differ
diff --git a/Downloads/AstroEQ6-Firmware.zip b/Downloads/AstroEQ6-Firmware.zip
index 869ad90b6d13596cefdde5a43bbd1ddb243d66f2..97f0959df3c640424da4f3d51a07f74bcc04e928 100644
Binary files a/Downloads/AstroEQ6-Firmware.zip and b/Downloads/AstroEQ6-Firmware.zip differ