diff --git a/Firmware/Board/v3/Src/usbd_desc.c b/Firmware/Board/v3/Src/usbd_desc.c
index c07403ac..d213f64a 100644
--- a/Firmware/Board/v3/Src/usbd_desc.c
+++ b/Firmware/Board/v3/Src/usbd_desc.c
@@ -97,7 +97,8 @@
 #define USBD_PID_FS     0x0D32
 #define USBD_PRODUCT_XSTR(s) USBD_PRODUCT_STR(s)
 #define USBD_PRODUCT_STR(s) #s
-#define USBD_PRODUCT_STRING_FS ODrive version HW_VERSION_MAJOR.HW_VERSION_MINOR
+#define USBD_PRODUCT_STRING_FS ODrive HW_VERSION_MAJOR.HW_VERSION_MINOR CDC Interface
+#define NATIVE_STRING ODrive HW_VERSION_MAJOR.HW_VERSION_MINOR Native Interface
 #define USBD_SERIALNUMBER_STRING_FS     "000000000001"
 #define USBD_CONFIGURATION_STRING_FS     "CDC Config"
 #define USBD_INTERFACE_STRING_FS     "CDC Interface"
@@ -152,7 +153,7 @@ uint8_t * USBD_UsrStrDescriptor(struct _USBD_HandleTypeDef *pdev, uint8_t index,
     *length = sizeof (USBD_MS_OS_StringDescriptor);
     return USBD_MS_OS_StringDescriptor;
   } else if (USBD_IDX_ODRIVE_INTF_STR == index) {
-    USBD_GetString((uint8_t *)"ODrive Interface", USBD_StrDesc, length);
+    USBD_GetString((uint8_t *)USBD_PRODUCT_XSTR(NATIVE_STRING), USBD_StrDesc, length);
     return USBD_StrDesc;
   }
   return NULL;
diff --git a/Firmware/MotorControl/odrive_main.h b/Firmware/MotorControl/odrive_main.h
index b12a0cd1..aff37201 100644
--- a/Firmware/MotorControl/odrive_main.h
+++ b/Firmware/MotorControl/odrive_main.h
@@ -54,7 +54,7 @@ extern SystemStats_t system_stats_;
 // @brief general user configurable board configuration
 struct BoardConfig_t {
     bool enable_uart = true;
-    bool enable_ascii_protocol_on_usb = false;
+    bool enable_ascii_protocol_on_usb = true;
     float brake_resistance = 0.47f;     // [ohm]
     float dc_bus_undervoltage_trip_level = 8.0f;                        //<! [V] minimum voltage below which the motor stops operating
     float dc_bus_overvoltage_trip_level = 1.08f * HW_VERSION_VOLTAGE;   //<! [V] maximum voltage above which the motor stops operating.
diff --git a/Firmware/communication/communication.cpp b/Firmware/communication/communication.cpp
index ee984acd..3fb192cd 100644
--- a/Firmware/communication/communication.cpp
+++ b/Firmware/communication/communication.cpp
@@ -168,8 +168,8 @@ void communication_task(void * ctx) {
     auto endpoint_provider = EndpointProvider_from_MemberList<tree_type>(*tree_ptr);
     set_application_endpoints(&endpoint_provider);
     
-    serve_on_uart();
-    serve_on_usb();
+    start_uart_server();
+    start_usb_server();
 
     for (;;) {
         osDelay(1000); // nothing to do
diff --git a/Firmware/communication/interface_uart.cpp b/Firmware/communication/interface_uart.cpp
index 58b4f57d..d5a47190 100644
--- a/Firmware/communication/interface_uart.cpp
+++ b/Firmware/communication/interface_uart.cpp
@@ -87,7 +87,7 @@ static void uart_server_thread(void * ctx) {
     };
 }
 
-void serve_on_uart() {
+void start_uart_server() {
     // DMA is set up to recieve in a circular buffer forever.
     // We dont use interrupts to fetch the data, instead we periodically read
     // data out of the circular buffer into a parse buffer, controlled by a state machine
diff --git a/Firmware/communication/interface_uart.h b/Firmware/communication/interface_uart.h
index 8ad71c19..a7a291f0 100644
--- a/Firmware/communication/interface_uart.h
+++ b/Firmware/communication/interface_uart.h
@@ -12,7 +12,7 @@ extern "C" {
 
 extern osThreadId uart_thread;
 
-void serve_on_uart(void);
+void start_uart_server(void);
 
 #ifdef __cplusplus
 }
diff --git a/Firmware/communication/interface_usb.cpp b/Firmware/communication/interface_usb.cpp
index 142765c2..c0194ec5 100644
--- a/Firmware/communication/interface_usb.cpp
+++ b/Firmware/communication/interface_usb.cpp
@@ -117,7 +117,7 @@ void usb_process_packet(uint8_t *buf, uint32_t len, uint8_t endpoint_pair) {
     osSemaphoreRelease(sem_usb_rx);
 }
 
-void serve_on_usb() {
+void start_usb_server() {
     // Start USB communication thread
     osThreadDef(usb_server_thread_def, usb_server_thread, osPriorityNormal, 0, 512);
     usb_thread = osThreadCreate(osThread(usb_server_thread_def), NULL);
diff --git a/Firmware/communication/interface_usb.h b/Firmware/communication/interface_usb.h
index b246a752..f8b11ee0 100644
--- a/Firmware/communication/interface_usb.h
+++ b/Firmware/communication/interface_usb.h
@@ -22,7 +22,7 @@ typedef struct {
 extern USBStats_t usb_stats_;
 
 void usb_process_packet(uint8_t *buf, uint32_t len, uint8_t endpoint_pair);
-void serve_on_usb(void);
+void start_usb_server(void);
 
 #ifdef __cplusplus
 }
diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py
index 52b1e610..c492f9a0 100644
--- a/tools/odrive/enums.py
+++ b/tools/odrive/enums.py
@@ -27,7 +27,7 @@ MOTOR_TYPE_HIGH_CURRENT = 0
 #MOTOR_TYPE_LOW_CURRENT = 1
 MOTOR_TYPE_GIMBAL = 2
 
-CTRL_MODE_VOLTAGE_CONTROL = 0,
-CTRL_MODE_CURRENT_CONTROL = 1,
-CTRL_MODE_VELOCITY_CONTROL = 2,
+CTRL_MODE_VOLTAGE_CONTROL = 0
+CTRL_MODE_CURRENT_CONTROL = 1
+CTRL_MODE_VELOCITY_CONTROL = 2
 CTRL_MODE_POSITION_CONTROL = 3