diff --git a/MotorControl/low_level.c b/MotorControl/low_level.c
index a0827a91..83f284f6 100755
--- a/MotorControl/low_level.c
+++ b/MotorControl/low_level.c
@@ -865,7 +865,7 @@ static bool measure_phase_resistance(Motor_t* motor, float test_current, float m
             motor->error = ERROR_PHASE_RESISTANCE_MEASUREMENT_TIMEOUT;
             return false;
         }
-        float Ialpha = -0.5f * (motor->current_meas.phB + motor->current_meas.phC);
+        float Ialpha = -(motor->current_meas.phB + motor->current_meas.phC);
         test_voltage += (kI * current_meas_period) * (test_current - Ialpha);
         if (test_voltage > max_voltage) test_voltage = max_voltage;
         if (test_voltage < -max_voltage) test_voltage = -max_voltage;
@@ -1501,9 +1501,7 @@ void motor_thread(void const * argument) {
         if (motor->do_calibration) {
             __HAL_TIM_MOE_ENABLE(motor->motor_timer);// enable pwm outputs
             motor_calibration(motor);
-            if(!motor->calibration_ok){
-                __HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(motor->motor_timer);// disables pwm outputs
-            }
+            __HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(motor->motor_timer);// disables pwm outputs
             motor->do_calibration = false;
         }
         
diff --git a/README.md b/README.md
index d0cbf037..937cc463 100644
--- a/README.md
+++ b/README.md
@@ -93,6 +93,9 @@ After installing all of the above, open a Git Bash shell. Continue at section [B
 
 ### Building the firmware
 * Make sure you have cloned the repository.
+  * For v3.3, you should use the [v3.3-pinout](https://github.com/madcowswe/ODriveFirmware/tree/v3.3-pinout) branch.
+  * For other versions you should use master
+  * In the near future this will be controlled with a preprocessor switch, but is done with branches for now.
 * Navigate your terminal (bash/cygwin) to the ODriveFirmware dir.
 * Run `make` in the root of this repository.