diff --git a/Firmware/Board/v3/STM32F405RGTx_FLASH.ld b/Firmware/Board/v3/STM32F405RGTx_FLASH.ld
index 6a08d185..30acca2c 100644
--- a/Firmware/Board/v3/STM32F405RGTx_FLASH.ld
+++ b/Firmware/Board/v3/STM32F405RGTx_FLASH.ld
@@ -145,7 +145,7 @@ SECTIONS
     
     . = ALIGN(4);
     _eccmram = .;       /* create a global symbol at ccmram end */
-  } >CCMRAM AT> FLASH
+  } >CCMRAM /*AT> FLASH*/
 
   
   /* Uninitialized data section */
diff --git a/Firmware/Board/v3/Src/main.c b/Firmware/Board/v3/Src/main.c
index 32546a48..644799de 100644
--- a/Firmware/Board/v3/Src/main.c
+++ b/Firmware/Board/v3/Src/main.c
@@ -108,6 +108,14 @@ int main(void)
     jump_to_builtin_bootloader();
   }
 
+  /* The bootloader might fail to properly clean up after itself,
+  so if we're not sure that the system is in a clean state we
+  just reset it again */
+  if(*((unsigned long *)0x2001C000) != 42) {
+    *((unsigned long *)0x2001C000) = 42;
+    NVIC_SystemReset();
+  }
+
   // This procedure of building a USB serial number should be identical
   // to the way the STM's built-in USB bootloader does it. This means
   // that the device will have the same serial number in normal and DFU mode.
diff --git a/Firmware/CHANGELOG.md b/Firmware/CHANGELOG.md
index 8e46007c..f010930e 100644
--- a/Firmware/CHANGELOG.md
+++ b/Firmware/CHANGELOG.md
@@ -4,6 +4,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
 ### Added
 * **Storing of configuration parameters to Non Volatile Memory**
 * **USB Bootloader**
+* `make erase_config` to erase the configuration with an STLink (the configuration can also be erased from within explore_odrive.py, using `my_odrive.erase_configuration()`)
 
 ### Changed
 * The build is now configured using the `tup.config` file instead of editing source files. Make sure you set your board version correctly. See [here](README.md#configuring-the-build) for details.
diff --git a/Firmware/Makefile b/Firmware/Makefile
index 0c6316d6..84a28e30 100644
--- a/Firmware/Makefile
+++ b/Firmware/Makefile
@@ -24,8 +24,12 @@ bmp: all
 		--ex 'attach 1' \
 		--ex 'load' $(FIRMWARE)
 
+# Erase all configuration from the ODrive
+erase_config:
+	openocd -f interface/stlink-v2.cfg -f target/stm32f4x.cfg -c init -c reset\ halt -c flash\ erase_address\ 0x80C0000\ 0x40000 -c reset\ run -c exit
+
 clean:
 	-rm -fR .dep $(BUILD_DIR)
 
-.PHONY: all flash gdb dfu bmp clean
+.PHONY: all flash gdb dfu bmp clean erase_config
 
diff --git a/tools/dfuse/DfuDevice.py b/tools/dfuse/DfuDevice.py
index 77f40797..9173dcc4 100644
--- a/tools/dfuse/DfuDevice.py
+++ b/tools/dfuse/DfuDevice.py
@@ -37,7 +37,7 @@ class DfuDevice:
         self.intf.set_altsetting()
 
     def control_msg(self, requestType, request, value, buffer, timeout=None):
-        return self.dev.ctrl_transfer(requestType, request, value, self.intf.bInterfaceNumber, buffer, timeout=1500)
+        return self.dev.ctrl_transfer(requestType, request, value, self.intf.bInterfaceNumber, buffer, timeout=timeout)
 
     def detach(self, timeout):
         return self.control_msg(DFU_REQUEST_SEND, DFU_DETACH, timeout, None)
@@ -83,12 +83,11 @@ class DfuDevice:
         status = self.get_status()
         
         while (status[1] in states):
-            timeout = status[2]
-            if not timeout is None:
-                timeout = max(timeout, status[2])
+            claimed_timeout = status[2]
+            actual_timeout = int(max(timeout or 0, claimed_timeout))
             #print("timeout = %f, claimed = %f" % (timeout, status[2]))
             #time.sleep(timeout)
-            status = self.get_status(timeout=timeout)
+            status = self.get_status(timeout=actual_timeout)
         
         return status