diff --git a/Firmware/Marlin.h b/Firmware/Marlin.h
index baadf9966..c393471b8 100644
--- a/Firmware/Marlin.h
+++ b/Firmware/Marlin.h
@@ -360,7 +360,12 @@ extern uint8_t print_percent_done_normal;
 extern uint32_t print_time_remaining_normal;
 extern uint8_t print_percent_done_silent;
 extern uint32_t print_time_remaining_silent;
+
 #define PRINT_TIME_REMAINING_INIT 0xffff
+
+extern uint16_t mcode_in_progress;
+extern uint16_t gcode_in_progress;
+
 #define PRINT_PERCENT_DONE_INIT   0xff
 #define PRINTER_ACTIVE (IS_SD_PRINTING || is_usb_printing || isPrintPaused || (custom_message_type == CUSTOM_MSG_TYPE_TEMCAL) || saved_printing || (lcd_commands_type == LCD_COMMAND_V2_CAL) || card.paused || mmu_print_saved)
 
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index ee40d0b31..4094c24ff 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -1962,8 +1962,8 @@ void loop()
   checkHitEndstops();
   lcd_update(0);
 #ifdef FILAMENT_SENSOR
-	if (mcode_in_progress != 600) //M600 not in progress
-		fsensor_update();
+  if (mcode_in_progress != 600 && !mmu_enabled) //M600 not in progress
+	  fsensor_update();
 #endif //FILAMENT_SENSOR
 #ifdef TMC2130
 	tmc2130_check_overtemp();
@@ -3092,7 +3092,7 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
     st_synchronize();
 
     //Beep, manage nozzle heater and wait for user to start unload filament
-    if (!automatic) M600_wait_for_user();
+    if(!mmu_enabled) M600_wait_for_user();
 
     lcd_change_fil_state = 0;
 
@@ -3117,6 +3117,8 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
 
     if (!automatic) M600_check_state();
 
+		lcd_update_enable(true);
+
     //Not let's go back to print
     fanSpeed = fanSpeedBckp;
 
@@ -3137,12 +3139,6 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
             FILAMENTCHANGE_ZFEED, active_extruder);
     st_synchronize();
 
-    //Unretract
-    current_position[E_AXIS] = current_position[E_AXIS] - e_shift;
-    plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS],
-            FILAMENTCHANGE_RFEED, active_extruder);
-    st_synchronize();
-
     //Set E position to original
     plan_set_e_position(lastpos[E_AXIS]);
 
@@ -3164,15 +3160,21 @@ void gcode_M701()
 {
 	printf_P(PSTR("gcode_M701 begin\n"));
 
-	if (mmu_enabled)
-		extr_adj(mmu_extruder);//loads current extruder
+	if (mmu_enabled) 
+	{
+		extr_adj(tmp_extruder);//loads current extruder
+		mmu_extruder = tmp_extruder;
+	}
 	else
 	{
 		enable_z();
 		custom_message_type = CUSTOM_MSG_TYPE_F_LOAD;
 
 #ifdef FILAMENT_SENSOR
-		fsensor_oq_meassure_start(40);
+		if (mmu_enabled == false)
+		{
+			fsensor_oq_meassure_start(40);
+		}
 #endif //FILAMENT_SENSOR
 
 		lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
@@ -3214,15 +3216,18 @@ void gcode_M701()
 		custom_message_type = CUSTOM_MSG_TYPE_STATUS;
 
 #ifdef FILAMENT_SENSOR
-		fsensor_oq_meassure_stop();
-
-		if (!fsensor_oq_result())
+		if (mmu_enabled == false) 
 		{
-			bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
-			lcd_update_enable(true);
-			lcd_update(2);
-			if (disable)
-				fsensor_disable();
+			fsensor_oq_meassure_stop();
+
+			if (!fsensor_oq_result())
+			{
+				bool disable = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Fil. sensor response is poor, disable it?"), false, true);
+				lcd_update_enable(true);
+				lcd_update(2);
+				if (disable)
+					fsensor_disable();
+			}
 		}
 #endif //FILAMENT_SENSOR
 	}
@@ -3410,7 +3415,9 @@ void process_commands()
 	}
 #endif //BACKLASH_Y
 #endif //TMC2130
-
+	else if (code_seen("FSENSOR_RECOVER")) {
+		fsensor_restore_print_and_continue();
+  }
   else if(code_seen("PRUSA")){
 		if (code_seen("Ping")) {  //PRUSA Ping
 			if (farm_mode) {
@@ -6746,7 +6753,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 	case 701: //M701: load filament
 	{
 		if (mmu_enabled && code_seen('E'))
-			mmu_extruder = code_value();
+			tmp_extruder = code_value();
 		gcode_M701();
 	}
 	break;
@@ -6805,7 +6812,7 @@ if (mmu_enabled)
 		  mmu_command(MMU_CMD_T0 + tmp_extruder);
 
 		  manage_response(true, true);
-
+		  mmu_command(MMU_CMD_C0);
     	  mmu_extruder = tmp_extruder; //filament change is finished
 
 		  if (*(strchr_pointer + index) == '?')// for single material usage with mmu
@@ -7303,38 +7310,41 @@ static void handleSafetyTimer()
 void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
 {
 #ifdef FILAMENT_SENSOR
-	if (mcode_in_progress != 600) //M600 not in progress
+	if (mmu_enabled == false)
 	{
-		if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
+		if (mcode_in_progress != 600) //M600 not in progress
 		{
-			if (fsensor_check_autoload())
+			if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
 			{
-				fsensor_autoload_check_stop();
-				if (degHotend0() > EXTRUDE_MINTEMP)
+				if (fsensor_check_autoload())
 				{
-if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
-					tone(BEEPER, 1000);
-					delay_keep_alive(50);
-					noTone(BEEPER);
-					loading_flag = true;
-					enquecommand_front_P((PSTR("M701")));
-				}
-				else
-				{
-					lcd_update_enable(false);
-					lcd_clear();
-					lcd_set_cursor(0, 0);
-					lcd_puts_P(_T(MSG_ERROR));
-					lcd_set_cursor(0, 2);
-					lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
-					delay(2000);
-					lcd_clear();
-					lcd_update_enable(true);
+					fsensor_autoload_check_stop();
+					if (degHotend0() > EXTRUDE_MINTEMP)
+					{
+						if ((eSoundMode == e_SOUND_MODE_LOUD) || (eSoundMode == e_SOUND_MODE_ONCE))
+							tone(BEEPER, 1000);
+						delay_keep_alive(50);
+						noTone(BEEPER);
+						loading_flag = true;
+						enquecommand_front_P((PSTR("M701")));
+					}
+					else
+					{
+						lcd_update_enable(false);
+						lcd_clear();
+						lcd_set_cursor(0, 0);
+						lcd_puts_P(_T(MSG_ERROR));
+						lcd_set_cursor(0, 2);
+						lcd_puts_P(_T(MSG_PREHEAT_NOZZLE));
+						delay(2000);
+						lcd_clear();
+						lcd_update_enable(true);
+					}
 				}
 			}
+			else
+				fsensor_autoload_check_stop();
 		}
-		else
-			fsensor_autoload_check_stop();
 	}
 #endif //FILAMENT_SENSOR
 
@@ -8844,8 +8854,7 @@ void M600_check_state()
 {
 		//Wait for user to check the state
 		lcd_change_fil_state = 0;
-		
-		while ((lcd_change_fil_state == 0)||(lcd_change_fil_state != 1)){
+		while (lcd_change_fil_state != 1){
 			lcd_change_fil_state = 0;
 			KEEPALIVE_STATE(PAUSED_FOR_USER);
 			lcd_alright();
@@ -8869,10 +8878,9 @@ void M600_check_state()
 				// Everything good             
 				default:
 					lcd_change_success();
-					lcd_update_enable(true);
 					break;
 			}
-	}
+		}
 }
 
 void M600_wait_for_user() {
@@ -9035,7 +9043,7 @@ if((eSoundMode==e_SOUND_MODE_LOUD)||(eSoundMode==e_SOUND_MODE_ONCE))
 			fsensor_disable();
 	}
 #endif //FILAMENT_SENSOR
-
+	lcd_update_enable(false);
 }
 
 #define FIL_LOAD_LENGTH 60
diff --git a/Firmware/eeprom.h b/Firmware/eeprom.h
index 28498f139..54a216488 100644
--- a/Firmware/eeprom.h
+++ b/Firmware/eeprom.h
@@ -144,6 +144,7 @@
 // Sound Mode
 //#define EEPROM_SOUND_MODE (EEPROM_EXTRUDEMULTIPLY-1) // uint8
 #define EEPROM_SOUND_MODE (EEPROM_UVLO_TINY_Z_MICROSTEPS-1) // uint8
+#define EEPROM_AUTO_DEPLETE (EEPROM_SOUND_MODE-1) //bool
 
 // !!!!!
 // !!!!! this is end of EEPROM section ... all updates MUST BE inserted before this mark !!!!!
diff --git a/Firmware/menu.cpp b/Firmware/menu.cpp
index b63629edf..bd5238269 100644
--- a/Firmware/menu.cpp
+++ b/Firmware/menu.cpp
@@ -9,15 +9,20 @@
 #include "Configuration.h"
 #include "Marlin.h"
 #include "ultralcd.h"
+#include "language.h"
 
 
 
 extern int32_t lcd_encoder;
 
+#define MENU_DEPTH_MAX       4
 
-menu_record_t menu_stack[MENU_DEPTH_MAX];
+static menu_record_t menu_stack[MENU_DEPTH_MAX];
 
 uint8_t menu_data[MENU_DATA_SIZE];
+#ifndef __AVR__
+#error "menu_data is non-portable to non 8bit processor"
+#endif
 
 uint8_t menu_depth = 0;
 
@@ -33,6 +38,8 @@ uint8_t menu_leaving = 0;
 
 menu_func_t menu_menu = 0;
 
+static_assert(sizeof(menu_data)>= sizeof(menu_data_edit_t),"menu_data_edit_t doesn't fit into menu_data");
+
 
 void menu_goto(menu_func_t menu, const uint32_t encoder, const bool feedback, bool reset_menu_state)
 {
@@ -86,7 +93,7 @@ void menu_back(void)
 	}
 }
 
-void menu_back_no_reset(void)
+static void menu_back_no_reset(void)
 {
 	if (menu_depth > 0)
 	{
@@ -120,7 +127,7 @@ void menu_submenu(menu_func_t submenu)
 	}
 }
 
-void menu_submenu_no_reset(menu_func_t submenu)
+static void menu_submenu_no_reset(menu_func_t submenu)
 {
 	if (menu_depth <= MENU_DEPTH_MAX)
 	{
@@ -158,7 +165,7 @@ int menu_draw_item_printf_P(char type_char, const char* format, ...)
 }
 */
 
-int menu_draw_item_puts_P(char type_char, const char* str)
+static int menu_draw_item_puts_P(char type_char, const char* str)
 {
     lcd_set_cursor(0, menu_row);
 	int cnt = lcd_printf_P(PSTR("%c%-18S%c"), (lcd_encoder == menu_item)?'>':' ', str, type_char);
@@ -263,8 +270,13 @@ const char menu_fmt_float31[] PROGMEM = "%c%.12S:%s%+06.1f";
 
 const char menu_fmt_float13[] PROGMEM = "%c%.12S:%s%+06.3f";
 
+const char menu_fmt_float13off[] PROGMEM = "%c%.12S:%s%";
 
-void menu_draw_int3(char chr, const char* str, int16_t val)
+template<typename T>
+static void menu_draw_P(char chr, const char* str, int16_t val);
+
+template<>
+void menu_draw_P<int16_t*>(char chr, const char* str, int16_t val)
 {
 	int text_len = strlen_P(str);
 	if (text_len > 15) text_len = 15;
@@ -274,6 +286,27 @@ void menu_draw_int3(char chr, const char* str, int16_t val)
 	lcd_printf_P(menu_fmt_int3, chr, str, spaces, val);
 }
 
+template<>
+void menu_draw_P<uint8_t*>(char chr, const char* str, int16_t val)
+{
+    menu_data_edit_t* _md = (menu_data_edit_t*)&(menu_data[0]);
+    int text_len = strlen_P(str);
+    if (text_len > 15) text_len = 15;
+    char spaces[21];
+    strcpy_P(spaces, menu_20x_space);
+    spaces[12 - text_len] = 0;
+    float factor = 1.0 + static_cast<float>(val) / 1000.0;
+    if (val <= _md->minEditValue)
+    {
+        lcd_printf_P(menu_fmt_float13off, chr, str, spaces);
+        lcd_puts_P(_i(" [off]"));
+    }
+    else
+    {
+        lcd_printf_P(menu_fmt_float13, chr, str, spaces, factor);
+    }
+}
+
 //draw up to 12 chars of text, ':' and float number in format +123.0
 void menu_draw_float31(char chr, const char* str, float val)
 {
@@ -296,16 +329,8 @@ void menu_draw_float13(char chr, const char* str, float val)
 	lcd_printf_P(menu_fmt_float13, chr, str, spaces, val);
 }
 
-typedef struct
-{
-    //Variables used when editing values.
-    const char* editLabel;
-    void* editValue;
-    int32_t minEditValue;
-	int32_t maxEditValue;
-} menu_data_edit_t;
-
-void _menu_edit_int3(void)
+template <typename T>
+static void _menu_edit_P(void)
 {
 	menu_data_edit_t* _md = (menu_data_edit_t*)&(menu_data[0]);
 	if (lcd_draw_update)
@@ -313,16 +338,17 @@ void _menu_edit_int3(void)
 		if (lcd_encoder < _md->minEditValue) lcd_encoder = _md->minEditValue;
 		if (lcd_encoder > _md->maxEditValue) lcd_encoder = _md->maxEditValue;
 		lcd_set_cursor(0, 1);
-		menu_draw_int3(' ', _md->editLabel, (int)lcd_encoder);
+		menu_draw_P<T>(' ', _md->editLabel, (int)lcd_encoder);
 	}
 	if (LCD_CLICKED)
 	{
-		*((int*)(_md->editValue)) = (int)lcd_encoder;
+		*((T)(_md->editValue)) = lcd_encoder;
 		menu_back_no_reset();
 	}
 }
 
-uint8_t menu_item_edit_int3(const char* str, int16_t* pval, int16_t min_val, int16_t max_val)
+template <typename T>
+uint8_t menu_item_edit_P(const char* str, T pval, int16_t min_val, int16_t max_val)
 {
 	menu_data_edit_t* _md = (menu_data_edit_t*)&(menu_data[0]);
 	if (menu_item == menu_line)
@@ -330,11 +356,11 @@ uint8_t menu_item_edit_int3(const char* str, int16_t* pval, int16_t min_val, int
 		if (lcd_draw_update) 
 		{
 			lcd_set_cursor(0, menu_row);
-			menu_draw_int3((lcd_encoder == menu_item)?'>':' ', str, *pval);
+			menu_draw_P<T>((lcd_encoder == menu_item)?'>':' ', str, *pval);
 		}
 		if (menu_clicked && (lcd_encoder == menu_item))
 		{
-			menu_submenu_no_reset(_menu_edit_int3);
+			menu_submenu_no_reset(_menu_edit_P<T>);
 			_md->editLabel = str;
 			_md->editValue = pval;
 			_md->minEditValue = min_val;
@@ -347,6 +373,9 @@ uint8_t menu_item_edit_int3(const char* str, int16_t* pval, int16_t min_val, int
 	return 0;
 }
 
+template uint8_t menu_item_edit_P<int16_t*>(const char* str, int16_t *pval, int16_t min_val, int16_t max_val);
+template uint8_t menu_item_edit_P<uint8_t*>(const char* str, uint8_t *pval, int16_t min_val, int16_t max_val);
+
 #undef _menu_data
 
 
diff --git a/Firmware/menu.h b/Firmware/menu.h
index 06c901035..73e4925a6 100644
--- a/Firmware/menu.h
+++ b/Firmware/menu.h
@@ -4,9 +4,7 @@
 
 #include <inttypes.h>
 
-#define MENU_DEPTH_MAX       4
 #define MENU_DATA_SIZE      32
-#define MENU_DATA_EDIT_SIZE 12
 
 //Function pointer to menu functions.
 typedef void (*menu_func_t)(void);
@@ -17,7 +15,14 @@ typedef struct
     int8_t position;
 } menu_record_t;
 
-extern menu_record_t menu_stack[MENU_DEPTH_MAX];
+typedef struct
+{
+    //Variables used when editing values.
+    const char* editLabel;
+    void* editValue;
+    int32_t minEditValue;
+    int32_t maxEditValue;
+} menu_data_edit_t;
 
 extern uint8_t menu_data[MENU_DATA_SIZE];
 
@@ -50,21 +55,16 @@ extern void menu_end(void);
 
 extern void menu_back(void);
 
-extern void menu_back_no_reset(void);
-
 extern void menu_back_if_clicked(void);
 
 extern void menu_back_if_clicked_fb(void);
 
 extern void menu_submenu(menu_func_t submenu);
 
-extern void menu_submenu_no_reset(menu_func_t submenu);
-
 extern uint8_t menu_item_ret(void);
 
 //extern int menu_draw_item_printf_P(char type_char, const char* format, ...);
 
-extern int menu_draw_item_puts_P(char type_char, const char* str);
 
 //int menu_draw_item_puts_P_int16(char type_char, const char* str, int16_t val, );
 
@@ -91,17 +91,16 @@ extern const char menu_fmt_int3[];
 
 extern const char menu_fmt_float31[];
 
-extern void menu_draw_int3(char chr, const char* str, int16_t val);
 
 extern void menu_draw_float31(char chr, const char* str, float val);
 
 extern void menu_draw_float13(char chr, const char* str, float val);
 
-extern void _menu_edit_int3(void);
 
-#define MENU_ITEM_EDIT_int3_P(str, pval, minval, maxval) do { if (menu_item_edit_int3(str, pval, minval, maxval)) return; } while (0)
+#define MENU_ITEM_EDIT_int3_P(str, pval, minval, maxval) do { if (menu_item_edit_P(str, pval, minval, maxval)) return; } while (0)
 //#define MENU_ITEM_EDIT_int3_P(str, pval, minval, maxval) MENU_ITEM_EDIT(int3, str, pval, minval, maxval)
-extern uint8_t menu_item_edit_int3(const char* str, int16_t* pval, int16_t min_val, int16_t max_val);
+template <typename T>
+extern uint8_t menu_item_edit_P(const char* str, T pval, int16_t min_val, int16_t max_val);
 
 
 #endif //_MENU_H
diff --git a/Firmware/mmu.cpp b/Firmware/mmu.cpp
index 703b5b4c3..fd70da1c6 100644
--- a/Firmware/mmu.cpp
+++ b/Firmware/mmu.cpp
@@ -7,22 +7,22 @@
 #include "uart2.h"
 #include "temperature.h"
 #include "Configuration_prusa.h"
+#include "fsensor.h"
+#include "cardreader.h"
+#include "ultralcd.h"
+#include "sound.h"
 
-
-extern const char* lcd_display_message_fullscreen_P(const char *msg);
-extern void lcd_show_fullscreen_message_and_wait_P(const char *msg);
-extern int8_t lcd_show_fullscreen_message_yes_no_and_wait_P(const char *msg, bool allow_timeouting = true, bool default_yes = false);
-extern void lcd_return_to_status();
-extern void lcd_wait_for_heater();
-extern char choose_extruder_menu();
-
+#define CHECK_FINDA ((IS_SD_PRINTING || is_usb_printing) && (mcode_in_progress != 600) && !saved_printing && e_active())
 
 #define MMU_TODELAY 100
 #define MMU_TIMEOUT 10
+#define MMU_CMD_TIMEOUT 300000ul //5min timeout for mmu commands (except P0)
+#define MMU_P0_TIMEOUT 3000ul //timeout for P0 command: 3seconds
 
 #define MMU_HWRESET
 #define MMU_RST_PIN 76
 
+#define MMU_REQUIRED_FW_BUILDNR 81
 
 bool mmu_enabled = false;
 
@@ -138,6 +138,9 @@ void mmu_loop(void)
 		{
 			fscanf_P(uart2io, PSTR("%u"), &mmu_buildnr); //scan buildnr from buffer
 			printf_P(PSTR("MMU => '%dok'\n"), mmu_buildnr);
+			bool version_valid = mmu_check_version();
+			if (!version_valid) mmu_show_warning();
+			else puts_P(PSTR("MMU version valid"));
 			puts_P(PSTR("MMU <= 'P0'"));
 		    mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
 			mmu_state = -4;
@@ -170,9 +173,21 @@ void mmu_loop(void)
 			    mmu_printf_P(PSTR("L%d\n"), filament);
 			    mmu_state = 3; // wait for response
 			}
+			else if (mmu_cmd == MMU_CMD_C0)
+			{
+				printf_P(PSTR("MMU <= 'C0'\n"));
+				mmu_puts_P(PSTR("C0\n")); //send 'continue loading'
+				mmu_state = 3;
+			}
+			else if (mmu_cmd == MMU_CMD_U0)
+			{
+				printf_P(PSTR("MMU <= 'U0'\n"));
+				mmu_puts_P(PSTR("U0\n")); //send 'unload current filament'
+				mmu_state = 3;
+			}
 			mmu_cmd = 0;
 		}
-		else if ((mmu_last_response + 1000) < millis()) //request every 1s
+		else if ((mmu_last_response + 300) < millis()) //request every 300ms
 		{
 			puts_P(PSTR("MMU <= 'P0'"));
 		    mmu_puts_P(PSTR("P0\n")); //send 'read finda' request
@@ -184,11 +199,18 @@ void mmu_loop(void)
 		{
 			fscanf_P(uart2io, PSTR("%hhu"), &mmu_finda); //scan finda from buffer
 			printf_P(PSTR("MMU => '%dok'\n"), mmu_finda);
+			//printf_P(PSTR("Eact: %d\n"), int(e_active()));
+			if (!mmu_finda && CHECK_FINDA && fsensor_enabled) {
+				fsensor_stop_and_save_print();
+				enquecommand_front_P(PSTR("FSENSOR_RECOVER")); //then recover
+				if (lcd_autoDeplete) enquecommand_front_P(PSTR("M600 AUTO")); //save print and run M600 command
+				else enquecommand_front_P(PSTR("M600")); //save print and run M600 command
+			}
 			mmu_state = 1;
 			if (mmu_cmd == 0)
 				mmu_ready = true;
 		}
-		else if ((mmu_last_request + 30000) < millis())
+		else if ((mmu_last_request + MMU_P0_TIMEOUT) < millis())
 		{ //resend request after timeout (30s)
 			mmu_state = 1;
 		}
@@ -196,12 +218,12 @@ void mmu_loop(void)
 	case 3: //response to commands T0-T4
 		if (mmu_rx_ok() > 0)
 		{
-			printf_P(PSTR("MMU => 'ok'\n"), mmu_finda);
+			printf_P(PSTR("MMU => 'ok'\n"));
 			mmu_ready = true;
 			mmu_state = 1;
 		}
-		else if ((mmu_last_request + 30000) < millis())
-		{ //resend request after timeout (30s)
+		else if ((mmu_last_request + MMU_CMD_TIMEOUT) < millis())
+		{ //resend request after timeout (5 min)
 			mmu_state = 1;
 		}
 		return;
@@ -297,7 +319,7 @@ void manage_response(bool move_axes, bool turn_off_nozzle)
 				  }
 				  st_synchronize();
 				  mmu_print_saved = true;
-				  
+				  printf_P(PSTR("MMU not responding\n"));
 				  hotend_temp_bckp = degTargetHotend(active_extruder);
 				  if (move_axes) {
 					  z_position_bckp = current_position[Z_AXIS];
@@ -319,23 +341,28 @@ void manage_response(bool move_axes, bool turn_off_nozzle)
 				  if (turn_off_nozzle) {
 					  //set nozzle target temperature to 0
 					  setAllTargetHotends(0);
-					  printf_P(PSTR("MMU not responding\n"));
-					  lcd_show_fullscreen_message_and_wait_P(_i("MMU needs user attention. Please press knob to resume nozzle target temperature."));
-					  setTargetHotend(hotend_temp_bckp, active_extruder);
-					  while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5) {
-						  delay_keep_alive(1000);
-						  lcd_wait_for_heater();
-					  }
 				  }
 			  }
-			  lcd_display_message_fullscreen_P(_i("Check MMU. Fix the issue and then press button on MMU unit."));
+			  lcd_display_message_fullscreen_P(_i("MMU needs user attention. Fix the issue and then press button on MMU unit."));
 			  delay_keep_alive(1000);
 		  }
 		  else if (mmu_print_saved) {
-			  printf_P(PSTR("MMU start responding\n"));
-			  lcd_clear();
-			  lcd_display_message_fullscreen_P(_i("MMU OK. Resuming..."));
+			  printf_P(PSTR("MMU starts responding\n"));
+			  if (turn_off_nozzle) 
+			  {
+				lcd_clear();
+				setTargetHotend(hotend_temp_bckp, active_extruder);
+				lcd_display_message_fullscreen_P(_i("MMU OK. Resuming temperature..."));
+				delay_keep_alive(3000);
+				while ((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5) 
+				{
+					delay_keep_alive(1000);
+					lcd_wait_for_heater();
+				}
+			  }			  
 			  if (move_axes) {
+				  lcd_clear();
+				  lcd_display_message_fullscreen_P(_i("MMU OK. Resuming position..."));
 				  current_position[X_AXIS] = x_position_bckp;
 				  current_position[Y_AXIS] = y_position_bckp;
 				  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
@@ -345,6 +372,8 @@ void manage_response(bool move_axes, bool turn_off_nozzle)
 				  st_synchronize();
 			  }
 			  else {
+				  lcd_clear();
+				  lcd_display_message_fullscreen_P(_i("MMU OK. Resuming..."));
 				  delay_keep_alive(1000); //delay just for showing MMU OK message for a while in case that there are no xyz movements
 			  }
 		  }
@@ -377,33 +406,79 @@ void mmu_load_to_nozzle()
 	if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = false;
 }
 
+void mmu_M600_wait_and_beep() {
+		//Beep and wait for user to remove old filament and prepare new filament for load
+
+		KEEPALIVE_STATE(PAUSED_FOR_USER);
+
+		int counterBeep = 0;
+		lcd_display_message_fullscreen_P(_i("Remove old filament and press the knob to start loading new filament."));
+		bool bFirst=true;
+
+		while (!lcd_clicked()){
+			manage_heater();
+			manage_inactivity(true);
+
+			#if BEEPER > 0
+			if (counterBeep == 500) {
+				counterBeep = 0;
+			}
+			SET_OUTPUT(BEEPER);
+			if (counterBeep == 0) {
+				if((eSoundMode==e_SOUND_MODE_LOUD)||((eSoundMode==e_SOUND_MODE_ONCE)&&bFirst))
+				{
+					bFirst=false;
+					WRITE(BEEPER, HIGH);
+				}
+			}
+			if (counterBeep == 20) {
+				WRITE(BEEPER, LOW);
+			}
+				
+			counterBeep++;
+			#endif //BEEPER > 0
+
+			delay_keep_alive(4);
+		}
+		WRITE(BEEPER, LOW);
+}
+
 void mmu_M600_load_filament(bool automatic)
 { 
 	//load filament for mmu v2
-		  uint8_t filament = mmu_extruder;
+		  bool yes = false;
+		  tmp_extruder = mmu_extruder;
 		  if (!automatic) {
-		      bool yes = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Do you want to switch extruder?"), false);
-			  if(yes) filament = choose_extruder_menu();
-		  }
+			  mmu_M600_wait_and_beep();
+#ifdef MMU_M600_SWITCH_EXTRUDER
+			  yes = lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Do you want to switch extruder?"), false);
+			  if(yes) tmp_extruder = choose_extruder_menu();
+			  else tmp_extruder = mmu_extruder;
+#else 
+			  tmp_extruder = mmu_extruder; 
+#endif //MMU_M600_SWITCH_EXTRUDER
+      }
 		  else {
-			  filament = (filament+1)%5;
+			  tmp_extruder = (tmp_extruder+1)%5;
 		  }
 		  lcd_update_enable(false);
 		  lcd_clear();
 		  lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_LOADING_FILAMENT));
 		  lcd_print(" ");
-		  lcd_print(filament + 1);
-		  snmm_filaments_used |= (1 << filament); //for stop print
+		  lcd_print(tmp_extruder + 1);
+		  snmm_filaments_used |= (1 << tmp_extruder); //for stop print
 
-//		  printf_P(PSTR("T code: %d \n"), filament);
-//		  mmu_printf_P(PSTR("T%d\n"), filament);
-		  mmu_command(MMU_CMD_T0 + filament);
+//		  printf_P(PSTR("T code: %d \n"), tmp_extruder);
+//		  mmu_printf_P(PSTR("T%d\n"), tmp_extruder);
+		  mmu_command(MMU_CMD_T0 + tmp_extruder);
 
 		  manage_response(false, true);
-    	  mmu_extruder = filament; //filament change is finished
+		  mmu_command(MMU_CMD_C0);
+    	  mmu_extruder = tmp_extruder; //filament change is finished
 
 		  mmu_load_to_nozzle();
 
+
 		  st_synchronize();
 		  current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED ;
 		  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2, active_extruder);
@@ -577,9 +652,8 @@ void extr_unload()
 		current_position[E_AXIS] -= 80;
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
 		st_synchronize();
-		printf_P(PSTR("U0\n"));
-		fprintf_P(uart2io, PSTR("U0\n"));
 
+		mmu_command(MMU_CMD_U0);
 		// get response
 		manage_response(false, true);
 
@@ -820,3 +894,14 @@ void extr_unload_4()
 	change_extr(4);
 	extr_unload();
 }
+
+bool mmu_check_version()
+{
+	return (mmu_buildnr >= MMU_REQUIRED_FW_BUILDNR);
+}
+
+void mmu_show_warning()
+{
+	printf_P(PSTR("MMU2 firmware version invalid. Required version: build number %d or higher."), MMU_REQUIRED_FW_BUILDNR);
+	kill(_i("Please update firmware in your MMU2. Waiting for reset."));
+}
diff --git a/Firmware/mmu.h b/Firmware/mmu.h
index 8b338d6cf..e5aad198a 100644
--- a/Firmware/mmu.h
+++ b/Firmware/mmu.h
@@ -26,6 +26,8 @@ extern int16_t mmu_buildnr;
 #define MMU_CMD_L2   0x22
 #define MMU_CMD_L3   0x23
 #define MMU_CMD_L4   0x24
+#define MMU_CMD_C0   0x30
+#define MMU_CMD_U0   0x40
 
 extern int mmu_puts_P(const char* str);
 
@@ -52,7 +54,7 @@ extern void manage_response(bool move_axes, bool turn_off_nozzle);
 extern void mmu_load_to_nozzle();
 
 extern void mmu_M600_load_filament(bool automatic);
-
+extern void mmu_M600_wait_and_beep();
 
 extern void extr_mov(float shift, float feed_rate);
 extern void change_extr(int extr);
@@ -77,3 +79,7 @@ extern void extr_unload_1();
 extern void extr_unload_2();
 extern void extr_unload_3();
 extern void extr_unload_4();
+
+extern bool mmu_check_version();
+extern void mmu_show_warning();
+
diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp
index ddbee23ec..98a62b9b8 100644
--- a/Firmware/planner.cpp
+++ b/Firmware/planner.cpp
@@ -494,6 +494,23 @@ void getHighESpeed()
 }
 #endif
 
+bool e_active()
+{
+	unsigned char e_active = 0;
+	block_t *block;
+  if(block_buffer_tail != block_buffer_head)
+  {
+    uint8_t block_index = block_buffer_tail;
+    while(block_index != block_buffer_head)
+    {
+      block = &block_buffer[block_index];
+      if(block->steps_e.wide != 0) e_active++;
+      block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
+    }
+  }
+  return (e_active > 0) ? true : false ;
+}
+
 void check_axes_activity()
 {
   unsigned char x_active = 0;
diff --git a/Firmware/planner.h b/Firmware/planner.h
index 8d648c8e8..998a3595b 100644
--- a/Firmware/planner.h
+++ b/Firmware/planner.h
@@ -154,7 +154,7 @@ void plan_set_position(float x, float y, float z, const float &e);
 void plan_set_z_position(const float &z);
 void plan_set_e_position(const float &e);
 
-
+extern bool e_active();
 
 void check_axes_activity();
 
diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp
index c39e61e5f..8eb4d0ea7 100644
--- a/Firmware/stepper.cpp
+++ b/Firmware/stepper.cpp
@@ -41,6 +41,8 @@
 int fsensor_counter = 0; //counter for e-steps
 #endif //FILAMENT_SENSOR
 
+#include "mmu.h"
+
 #ifdef DEBUG_STACK_MONITOR
 uint16_t SP_min = 0x21FF;
 #endif //DEBUG_STACK_MONITOR
@@ -468,8 +470,11 @@ FORCE_INLINE void stepper_next_block()
 #endif
 
 #ifdef FILAMENT_SENSOR
-    fsensor_counter = 0;
-    fsensor_st_block_begin(current_block);
+	if (mmu_enabled == false)
+	{
+		fsensor_counter = 0;
+		fsensor_st_block_begin(current_block);
+	}
 #endif //FILAMENT_SENSOR
     // The busy flag is set by the plan_get_current_block() call.
     // current_block->busy = true;
@@ -891,7 +896,10 @@ FORCE_INLINE void isr() {
         if (step_loops < estep_loops)
           estep_loops = step_loops;
     #ifdef FILAMENT_SENSOR
-        fsensor_counter += estep_loops;
+		if (mmu_enabled == false)
+		{
+			fsensor_counter += estep_loops;
+		}
     #endif //FILAMENT_SENSOR
         do {
           WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN);
@@ -1017,7 +1025,9 @@ FORCE_INLINE void isr() {
         // There is not enough time to fit even a single additional tick.
         // Tick all the extruder ticks now.
     #ifdef FILAMENT_SENSOR
-        fsensor_counter += e_steps;
+		  if (mmu_enabled == false) {
+			  fsensor_counter += e_steps;
+		  }
     #endif //FILAMENT_SENSOR
         MSerial.checkRx(); // Check for serial chars.
         do {
@@ -1039,15 +1049,17 @@ FORCE_INLINE void isr() {
     // If current block is finished, reset pointer
     if (step_events_completed.wide >= current_block->step_event_count.wide) {
 #ifdef FILAMENT_SENSOR
-      fsensor_st_block_chunk(current_block, fsensor_counter);
-	    fsensor_counter = 0;
+		if (mmu_enabled == false) {
+			fsensor_st_block_chunk(current_block, fsensor_counter);
+			fsensor_counter = 0;
+		}
 #endif //FILAMENT_SENSOR
 
       current_block = NULL;
       plan_discard_current_block();
     }
 #ifdef FILAMENT_SENSOR
-  	else if (fsensor_counter >= fsensor_chunk_len)
+  	else if ((fsensor_counter >= fsensor_chunk_len) && (mmu_enabled == false))
   	{
       fsensor_st_block_chunk(current_block, fsensor_counter);
   	  fsensor_counter = 0;
diff --git a/Firmware/ultralcd.cpp b/Firmware/ultralcd.cpp
index 386e7b22f..ac046b214 100644
--- a/Firmware/ultralcd.cpp
+++ b/Firmware/ultralcd.cpp
@@ -85,6 +85,7 @@ unsigned long display_time; //just timer for showing pid finished message on lcd
 float pid_temp = DEFAULT_PID_TEMP;
 
 static bool forceMenuExpire = false;
+bool lcd_autoDeplete;
 
 
 static float manual_feedrate[] = MANUAL_FEEDRATE;
@@ -121,6 +122,7 @@ static void lcd_control_temperature_preheat_pla_settings_menu();
 static void lcd_control_temperature_preheat_abs_settings_menu();
 static void lcd_control_motion_menu();
 static void lcd_control_volumetric_menu();
+static void lcd_settings_linearity_correction_menu_save();
 static void prusa_stat_printerstatus(int _status);
 static void prusa_stat_farm_number();
 static void prusa_stat_temperatures();
@@ -534,9 +536,9 @@ void lcdui_print_extruder(void)
 {
 	int chars = 0;
 	if (mmu_extruder == tmp_extruder)
-		chars = lcd_printf_P(_N(" T%u"), mmu_extruder);
+		chars = lcd_printf_P(_N(" T%u"), mmu_extruder+1);
 	else
-		chars = lcd_printf_P(_N(" %u>%u"), mmu_extruder, tmp_extruder);
+		chars = lcd_printf_P(_N(" %u>%u"), mmu_extruder+1, tmp_extruder+1);
 	lcd_space(5 - chars);
 }
 
@@ -1886,20 +1888,22 @@ static void lcd_menu_extruder_info()
     //  Shutter register is an index of LASER shutter time. It is automatically controlled by the chip's internal
     //  auto-exposure algorithm. When the chip is tracking on a good reflection surface, the Shutter is small.
     //  When the chip is tracking on a poor reflection surface, the Shutter is large. Value ranges from 0 to 46.
-
-	if (!fsensor_enabled)
-		lcd_puts_P(_N("Filament sensor\n" "is disabled."));
-	else
+	if (mmu_enabled == false)
 	{
-		if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
-			pat9125_update();
-		lcd_printf_P(_N(
-		  "Fil. Xd:%3d Yd:%3d\n"
-		  "Int: %3d  Shut: %3d"
-		 ),
-		 pat9125_x, pat9125_y,
-		 pat9125_b, pat9125_s
-		);
+		if (!fsensor_enabled)
+			lcd_puts_P(_N("Filament sensor\n" "is disabled."));
+		else
+		{
+			if (!moves_planned() && !IS_SD_PRINTING && !is_usb_printing && (lcd_commands_type != LCD_COMMAND_V2_CAL))
+				pat9125_update();
+			lcd_printf_P(_N(
+				"Fil. Xd:%3d Yd:%3d\n"
+				"Int: %3d  Shut: %3d"
+			),
+				pat9125_x, pat9125_y,
+				pat9125_b, pat9125_s
+			);
+		}
 	}
 #endif //FILAMENT_SENSOR
     
@@ -2094,9 +2098,7 @@ static void lcd_support_menu()
 		uint8_t ip[4];                 // 4bytes
 		char ip_str[3*4+3+1];          // 16bytes
 	} _menu_data_t;
-#if (22 > MENU_DATA_SIZE)
-#error "check MENU_DATA_SIZE definition!"
-#endif
+    static_assert(sizeof(menu_data)>= sizeof(_menu_data_t),"_menu_data_t doesn't fit into menu_data");
 	_menu_data_t* _md = (_menu_data_t*)&(menu_data[0]);
     if (_md->status == 0 || lcd_draw_update == 2)
 	{
@@ -2425,6 +2427,7 @@ static void lcd_menu_AutoLoadFilament()
     }
     else
     {
+        static_assert(sizeof(menu_data)>=sizeof(ShortTimer), "ShortTimer doesn't fit into menu_data");
 		ShortTimer* ptimer = (ShortTimer*)&(menu_data[0]);
         if (!ptimer->running()) ptimer->start();
         lcd_set_cursor(0, 0);
@@ -2540,9 +2543,7 @@ static void _lcd_move(const char *name, int axis, int min, int max)
 		bool initialized;              // 1byte
 		bool endstopsEnabledPrevious;  // 1byte
 	} _menu_data_t;
-#if (2 > MENU_DATA_SIZE)
-#error "check MENU_DATA_SIZE definition!"
-#endif
+	static_assert(sizeof(menu_data)>= sizeof(_menu_data_t),"_menu_data_t doesn't fit into menu_data");
 	_menu_data_t* _md = (_menu_data_t*)&(menu_data[0]);
 	if (!_md->initialized)
 	{
@@ -2746,9 +2747,7 @@ static void _lcd_babystep(int axis, const char *msg)
 		int babystepMem[3];            // 6bytes
 		float babystepMemMM[3];        // 12bytes
 	} _menu_data_t;
-#if (19 > MENU_DATA_SIZE)
-#error "check MENU_DATA_SIZE definition!"
-#endif
+	static_assert(sizeof(menu_data)>= sizeof(_menu_data_t),"_menu_data_t doesn't fit into menu_data");
 	_menu_data_t* _md = (_menu_data_t*)&(menu_data[0]);
 	if (_md->status == 0)
 	{
@@ -2820,16 +2819,14 @@ static void lcd_babystep_z()
 
 typedef struct
 {	// 12bytes + 9bytes = 21bytes total
-	uint8_t reserved[MENU_DATA_EDIT_SIZE]; //12 bytes reserved for number editing functions
+    menu_data_edit_t reserved; //12 bytes reserved for number editing functions
 	int8_t status;                   // 1byte
 	int16_t left;                    // 2byte
 	int16_t right;                   // 2byte
 	int16_t front;                   // 2byte
 	int16_t rear;                    // 2byte
 } _menu_data_adjust_bed_t;
-#if (21 > MENU_DATA_SIZE)
-#error "check MENU_DATA_SIZE definition!"
-#endif
+static_assert(sizeof(menu_data)>= sizeof(_menu_data_adjust_bed_t),"_menu_data_adjust_bed_t doesn't fit into menu_data");
 
 void lcd_adjust_bed_reset(void)
 {
@@ -4042,15 +4039,16 @@ static void lcd_crash_mode_set()
 static void lcd_fsensor_state_set()
 {
 	FSensorStateMenu = !FSensorStateMenu; //set also from fsensor_enable() and fsensor_disable()
-    if (!FSensorStateMenu) {
-        fsensor_disable();
-        if (fsensor_autoload_enabled)
-            menu_submenu(lcd_filament_autoload_info);
-    }else{
-        fsensor_enable();
-        if (fsensor_not_responding)
-            menu_submenu(lcd_fsensor_fail);
-    }
+	if (!FSensorStateMenu) {
+		fsensor_disable();
+		if (fsensor_autoload_enabled && !mmu_enabled)
+			menu_submenu(lcd_filament_autoload_info);
+	}
+	else {
+		fsensor_enable();
+		if (fsensor_not_responding && !mmu_enabled)
+			menu_submenu(lcd_fsensor_fail);
+	}
 }
 #endif //FILAMENT_SENSOR
 
@@ -4490,28 +4488,182 @@ void lcd_wizard(int state) {
 	lcd_return_to_status();
 	lcd_update(2);
 }
-#ifdef LINEARITY_CORRECTION
+
+#ifdef TMC2130
 void lcd_settings_linearity_correction_menu(void)
 {
 	MENU_BEGIN();
-	if (menu_item_back_P(_T(MSG_MAIN)))
-	{
-		lcd_settings_menu_back();
-		return;
-	}
-//	MENU_ITEM_BACK_P(_T(MSG_SETTINGS));
+	MENU_ITEM_BACK_P(_T(MSG_SETTINGS));
 #ifdef TMC2130_LINEARITY_CORRECTION_XYZ
 	//tmc2130_wave_fac[X_AXIS]
-	int corr[4] = {tmc2130_wave_fac[X_AXIS], tmc2130_wave_fac[Y_AXIS], tmc2130_wave_fac[Z_AXIS], tmc2130_wave_fac[E_AXIS]};
 
-	MENU_ITEM_EDIT_int3_P(_i("X-correct"),  &corr[X_AXIS],  TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);////MSG_EXTRUDER_CORRECTION c=9 r=0
-	MENU_ITEM_EDIT_int3_P(_i("Y-correct"),  &corr[Y_AXIS],  TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);////MSG_EXTRUDER_CORRECTION c=9 r=0
-	MENU_ITEM_EDIT_int3_P(_i("Z-correct"),  &corr[Z_AXIS],  TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);////MSG_EXTRUDER_CORRECTION c=9 r=0
+	MENU_ITEM_EDIT_int3_P(_i("X-correct"),  &tmc2130_wave_fac[X_AXIS],  TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);////MSG_EXTRUDER_CORRECTION c=9 r=0
+	MENU_ITEM_EDIT_int3_P(_i("Y-correct"),  &tmc2130_wave_fac[Y_AXIS],  TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);////MSG_EXTRUDER_CORRECTION c=9 r=0
+	MENU_ITEM_EDIT_int3_P(_i("Z-correct"),  &tmc2130_wave_fac[Z_AXIS],  TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);////MSG_EXTRUDER_CORRECTION c=9 r=0
 #endif //TMC2130_LINEARITY_CORRECTION_XYZ
-	MENU_ITEM_EDIT_int3_P(_i("E-correct"),  &corr[E_AXIS],  TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);////MSG_EXTRUDER_CORRECTION c=9 r=0
+	MENU_ITEM_EDIT_int3_P(_i("E-correct"),  &tmc2130_wave_fac[E_AXIS],  TMC2130_WAVE_FAC1000_MIN-TMC2130_WAVE_FAC1000_STP, TMC2130_WAVE_FAC1000_MAX);////MSG_EXTRUDER_CORRECTION c=9 r=0
 	MENU_END();
+	if(menu_leaving)
+	{
+	    lcd_settings_linearity_correction_menu_save();
+	}
 }
-#endif //LINEARITY_CORRECTION
+#endif // TMC2130
+
+#ifdef FILAMENT_SENSOR
+#define SETTINGS_FILAMENT_SENSOR \
+do\
+{\
+    if (FSensorStateMenu == 0)\
+    {\
+        if (fsensor_not_responding)\
+        {\
+            /* Filament sensor not working*/\
+            MENU_ITEM_FUNCTION_P(_i("Fil. sensor [N/A]"), lcd_fsensor_state_set);/*////MSG_FSENSOR_NA c=0 r=0*/\
+            MENU_ITEM_SUBMENU_P(_T(MSG_FSENS_AUTOLOAD_NA), lcd_fsensor_fail);\
+        }\
+        else\
+        {\
+            /* Filament sensor turned off, working, no problems*/\
+            MENU_ITEM_FUNCTION_P(_T(MSG_FSENSOR_OFF), lcd_fsensor_state_set);\
+            if (mmu_enabled == false)if (mmu_enabled == false)\
+            {\
+                MENU_ITEM_SUBMENU_P(_T(MSG_FSENS_AUTOLOAD_NA), lcd_filament_autoload_info);\
+            }\
+        }\
+    }\
+    else\
+    {\
+        /* Filament sensor turned on, working, no problems*/\
+        MENU_ITEM_FUNCTION_P(_T(MSG_FSENSOR_ON), lcd_fsensor_state_set);\
+        if (mmu_enabled == false)\
+        {\
+            if (fsensor_autoload_enabled)\
+                MENU_ITEM_FUNCTION_P(_i("F. autoload  [on]"), lcd_set_filament_autoload);/*////MSG_FSENS_AUTOLOAD_ON c=17 r=1*/\
+            else\
+                MENU_ITEM_FUNCTION_P(_i("F. autoload [off]"), lcd_set_filament_autoload);/*////MSG_FSENS_AUTOLOAD_OFF c=17 r=1*/\
+        }\
+    }\
+}\
+while(0)
+
+#else //FILAMENT_SENSOR
+#define SETTINGS_FILAMENT_SENSOR do{}while(0)
+#endif //FILAMENT_SENSOR
+
+#ifdef TMC2130
+#define SETTINGS_SILENT_MODE \
+do\
+{\
+    if(!farm_mode)\
+    {\
+        if (SilentModeMenu == SILENT_MODE_NORMAL)\
+        {\
+            MENU_ITEM_FUNCTION_P(_T(MSG_STEALTH_MODE_OFF), lcd_silent_mode_set);\
+        }\
+        else MENU_ITEM_FUNCTION_P(_T(MSG_STEALTH_MODE_ON), lcd_silent_mode_set);\
+        if (SilentModeMenu == SILENT_MODE_NORMAL)\
+        {\
+            if (CrashDetectMenu == 0)\
+            {\
+                MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_OFF), lcd_crash_mode_set);\
+            }\
+            else MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_ON), lcd_crash_mode_set);\
+        }\
+        else MENU_ITEM_SUBMENU_P(_T(MSG_CRASHDETECT_NA), lcd_crash_mode_info);\
+    }\
+}\
+while (0)
+
+#else //TMC2130
+#define SETTINGS_SILENT_MODE \
+do\
+{\
+    if(!farm_mode)\
+    {\
+        switch (SilentModeMenu)\
+        {\
+        case SILENT_MODE_POWER:\
+            MENU_ITEM_FUNCTION_P(_T(MSG_SILENT_MODE_OFF), lcd_silent_mode_set);\
+            break;\
+        case SILENT_MODE_SILENT:\
+            MENU_ITEM_FUNCTION_P(_T(MSG_SILENT_MODE_ON), lcd_silent_mode_set);\
+            break;\
+        case SILENT_MODE_AUTO:\
+            MENU_ITEM_FUNCTION_P(_T(MSG_AUTO_MODE_ON), lcd_silent_mode_set);\
+            break;\
+        default:\
+            MENU_ITEM_FUNCTION_P(_T(MSG_SILENT_MODE_OFF), lcd_silent_mode_set);\
+            break; /* (probably) not needed*/\
+        }\
+    }\
+}\
+while (0)
+#endif //TMC2130
+
+#ifdef SDCARD_SORT_ALPHA
+#define SETTINGS_SD \
+do\
+{\
+    if (card.ToshibaFlashAir_isEnabled())\
+        MENU_ITEM_FUNCTION_P(_i("SD card [flshAir]"), lcd_toshiba_flash_air_compatibility_toggle);/*////MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_ON c=19 r=1*/\
+    else\
+        MENU_ITEM_FUNCTION_P(_i("SD card  [normal]"), lcd_toshiba_flash_air_compatibility_toggle);/*////MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_OFF c=19 r=1*/\
+\
+    if (!farm_mode)\
+    {\
+        uint8_t sdSort;\
+        EEPROM_read(EEPROM_SD_SORT, (uint8_t*)&sdSort, sizeof(sdSort));\
+        switch (sdSort)\
+        {\
+          case SD_SORT_TIME: MENU_ITEM_FUNCTION_P(_i("Sort:      [time]"), lcd_sort_type_set); break;/*////MSG_SORT_TIME c=17 r=1*/\
+          case SD_SORT_ALPHA: MENU_ITEM_FUNCTION_P(_i("Sort:  [alphabet]"), lcd_sort_type_set); break;/*////MSG_SORT_ALPHA c=17 r=1*/\
+          default: MENU_ITEM_FUNCTION_P(_i("Sort:      [none]"), lcd_sort_type_set);/*////MSG_SORT_NONE c=17 r=1*/\
+        }\
+    }\
+}\
+while (0)
+#else // SDCARD_SORT_ALPHA
+#define SETTINGS_SD \
+do\
+{\
+    if (card.ToshibaFlashAir_isEnabled())\
+        MENU_ITEM_FUNCTION_P(_i("SD card [flshAir]"), lcd_toshiba_flash_air_compatibility_toggle);/*////MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_ON c=19 r=1*/\
+    else\
+        MENU_ITEM_FUNCTION_P(_i("SD card  [normal]"), lcd_toshiba_flash_air_compatibility_toggle);/*////MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_OFF c=19 r=1*/\
+}\
+while (0)
+#endif // SDCARD_SORT_ALPHA
+
+#define SETTINGS_SOUND \
+do\
+{\
+    switch(eSoundMode)\
+         {\
+         case e_SOUND_MODE_LOUD:\
+              MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_LOUD),lcd_sound_state_set);\
+              break;\
+         case e_SOUND_MODE_ONCE:\
+              MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_ONCE),lcd_sound_state_set);\
+              break;\
+         case e_SOUND_MODE_SILENT:\
+              MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_SILENT),lcd_sound_state_set);\
+              break;\
+         case e_SOUND_MODE_MUTE:\
+              MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_MUTE),lcd_sound_state_set);\
+              break;\
+         default:\
+              MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_LOUD),lcd_sound_state_set);\
+         }\
+}\
+while (0)
+
+static void auto_deplete_switch()
+{
+    lcd_autoDeplete = !lcd_autoDeplete;
+    eeprom_update_byte((unsigned char *)EEPROM_AUTO_DEPLETE, lcd_autoDeplete);
+}
+
 static void lcd_settings_menu()
 {
 	EEPROM_read(EEPROM_SILENT, (uint8_t*)&SilentModeMenu, sizeof(SilentModeMenu));
@@ -4520,71 +4672,28 @@ static void lcd_settings_menu()
 
 	MENU_ITEM_SUBMENU_P(_i("Temperature"), lcd_control_temperature_menu);////MSG_TEMPERATURE c=0 r=0
 	if (!homing_flag)
-	MENU_ITEM_SUBMENU_P(_i("Move axis"), lcd_move_menu_1mm);////MSG_MOVE_AXIS c=0 r=0
+	    MENU_ITEM_SUBMENU_P(_i("Move axis"), lcd_move_menu_1mm);////MSG_MOVE_AXIS c=0 r=0
 	if (!isPrintPaused)
-	MENU_ITEM_GCODE_P(_i("Disable steppers"), PSTR("M84"));////MSG_DISABLE_STEPPERS c=0 r=0
+	    MENU_ITEM_GCODE_P(_i("Disable steppers"), PSTR("M84"));////MSG_DISABLE_STEPPERS c=0 r=0
 
-#ifndef TMC2130
-	if (!farm_mode)
-	{ //dont show in menu if we are in farm mode
-		switch (SilentModeMenu)
-		{
-		case SILENT_MODE_POWER: MENU_ITEM_FUNCTION_P(_T(MSG_SILENT_MODE_OFF), lcd_silent_mode_set); break;
-		case SILENT_MODE_SILENT: MENU_ITEM_FUNCTION_P(_T(MSG_SILENT_MODE_ON), lcd_silent_mode_set); break;
-		case SILENT_MODE_AUTO: MENU_ITEM_FUNCTION_P(_T(MSG_AUTO_MODE_ON), lcd_silent_mode_set); break;
-		default: MENU_ITEM_FUNCTION_P(_T(MSG_SILENT_MODE_OFF), lcd_silent_mode_set); break; // (probably) not needed
-		}
-	}
-#endif //TMC2130
+	SETTINGS_FILAMENT_SENSOR;
 
-#ifdef FILAMENT_SENSOR
-	if (FSensorStateMenu == 0)
+	if (mmu_enabled)
 	{
-		if (fsensor_not_responding)
-		{
-			// Filament sensor not working
-			MENU_ITEM_FUNCTION_P(_i("Fil. sensor [N/A]"), lcd_fsensor_state_set);////MSG_FSENSOR_NA c=0 r=0
-			MENU_ITEM_SUBMENU_P(_T(MSG_FSENS_AUTOLOAD_NA), lcd_fsensor_fail);
-		}
-		else
-		{
-			// Filament sensor turned off, working, no problems
-			MENU_ITEM_FUNCTION_P(_T(MSG_FSENSOR_OFF), lcd_fsensor_state_set);
-			MENU_ITEM_SUBMENU_P(_T(MSG_FSENS_AUTOLOAD_NA), lcd_filament_autoload_info);
-		}
+        if (lcd_autoDeplete) MENU_ITEM_FUNCTION_P(_i("Auto deplete [on]"), auto_deplete_switch);
+        else MENU_ITEM_FUNCTION_P(_i("Auto deplete[off]"), auto_deplete_switch);
 	}
-	else
-	{
-		// Filament sensor turned on, working, no problems
-		MENU_ITEM_FUNCTION_P(_T(MSG_FSENSOR_ON), lcd_fsensor_state_set);
-		if (fsensor_autoload_enabled)
-			MENU_ITEM_FUNCTION_P(_i("F. autoload  [on]"), lcd_set_filament_autoload);////MSG_FSENS_AUTOLOAD_ON c=17 r=1
-		else
-			MENU_ITEM_FUNCTION_P(_i("F. autoload [off]"), lcd_set_filament_autoload);////MSG_FSENS_AUTOLOAD_OFF c=17 r=1
-	}
-#endif //FILAMENT_SENSOR
 
 	if (fans_check_enabled == true)
 		MENU_ITEM_FUNCTION_P(_i("Fans check   [on]"), lcd_set_fan_check);////MSG_FANS_CHECK_ON c=17 r=1
 	else
 		MENU_ITEM_FUNCTION_P(_i("Fans check  [off]"), lcd_set_fan_check);////MSG_FANS_CHECK_OFF c=17 r=1
 
-#ifdef TMC2130
-	if(!farm_mode)
-	{
-		if (SilentModeMenu == SILENT_MODE_NORMAL) { MENU_ITEM_FUNCTION_P(_T(MSG_STEALTH_MODE_OFF), lcd_silent_mode_set); }
-		else MENU_ITEM_FUNCTION_P(_T(MSG_STEALTH_MODE_ON), lcd_silent_mode_set);
-		if (SilentModeMenu == SILENT_MODE_NORMAL)
-		{
-			if (CrashDetectMenu == 0) { MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_OFF), lcd_crash_mode_set); }
-			else MENU_ITEM_FUNCTION_P(_T(MSG_CRASHDETECT_ON), lcd_crash_mode_set);
-		}
-		else MENU_ITEM_SUBMENU_P(_T(MSG_CRASHDETECT_NA), lcd_crash_mode_info);
-	}
-#ifdef LINEARITY_CORRECTION
+	SETTINGS_SILENT_MODE;
+
+#if defined (TMC2130) && defined (LINEARITY_CORRECTION)
     MENU_ITEM_SUBMENU_P(_i("Lin. correction"), lcd_settings_linearity_correction_menu);
-#endif //LINEARITY_CORRECTION
-#endif //TMC2130
+#endif //LINEARITY_CORRECTION && TMC2130
 
   if (temp_cal_active == false)
 	  MENU_ITEM_FUNCTION_P(_i("Temp. cal.  [off]"), lcd_temp_calibration_set);////MSG_TEMP_CALIBRATION_OFF c=20 r=1
@@ -4605,45 +4714,9 @@ static void lcd_settings_menu()
 	MENU_ITEM_SUBMENU_P(_i("Select language"), lcd_language_menu);////MSG_LANGUAGE_SELECT c=0 r=0
 #endif //(LANG_MODE != 0)
 
-	if (card.ToshibaFlashAir_isEnabled())
-		MENU_ITEM_FUNCTION_P(_i("SD card [flshAir]"), lcd_toshiba_flash_air_compatibility_toggle);////MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_ON c=19 r=1
-	else
-		MENU_ITEM_FUNCTION_P(_i("SD card  [normal]"), lcd_toshiba_flash_air_compatibility_toggle);////MSG_TOSHIBA_FLASH_AIR_COMPATIBILITY_OFF c=19 r=1
+	SETTINGS_SD;
+	SETTINGS_SOUND;
 
-#ifdef SDCARD_SORT_ALPHA
-	if (!farm_mode)
-	{
-		uint8_t sdSort;
-		EEPROM_read(EEPROM_SD_SORT, (uint8_t*)&sdSort, sizeof(sdSort));
-		switch (sdSort)
-		{
-		  case SD_SORT_TIME: MENU_ITEM_FUNCTION_P(_i("Sort:      [time]"), lcd_sort_type_set); break;////MSG_SORT_TIME c=17 r=1
-		  case SD_SORT_ALPHA: MENU_ITEM_FUNCTION_P(_i("Sort:  [alphabet]"), lcd_sort_type_set); break;////MSG_SORT_ALPHA c=17 r=1
-		  default: MENU_ITEM_FUNCTION_P(_i("Sort:      [none]"), lcd_sort_type_set);////MSG_SORT_NONE c=17 r=1
-		}
-	}
-#endif // SDCARD_SORT_ALPHA
-    
-
-//-//
-switch(eSoundMode)
-     {
-     case e_SOUND_MODE_LOUD:
-          MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_LOUD),lcd_sound_state_set);
-          break;
-     case e_SOUND_MODE_ONCE:
-          MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_ONCE),lcd_sound_state_set);
-          break;
-     case e_SOUND_MODE_SILENT:
-          MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_SILENT),lcd_sound_state_set);
-          break;
-     case e_SOUND_MODE_MUTE:
-          MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_MUTE),lcd_sound_state_set);
-          break;
-     default:
-          MENU_ITEM_FUNCTION_P(_i(MSG_SOUND_MODE_LOUD),lcd_sound_state_set);
-     }
-//-//
 	if (farm_mode)
 	{
 		MENU_ITEM_SUBMENU_P(PSTR("Farm number"), lcd_farm_no);
@@ -4653,7 +4726,6 @@ switch(eSoundMode)
 	MENU_END();
 }
 
-#ifdef LINEARITY_CORRECTION
 #ifdef TMC2130
 static void lcd_ustep_linearity_menu_save()
 {
@@ -4664,7 +4736,8 @@ static void lcd_ustep_linearity_menu_save()
 }
 #endif //TMC2130
 
-static void lcd_settings_menu_back()
+
+static void lcd_settings_linearity_correction_menu_save()
 {
 #ifdef TMC2130
     bool changed = false;
@@ -4679,9 +4752,8 @@ static void lcd_settings_menu_back()
     lcd_ustep_linearity_menu_save();
     if (changed) tmc2130_init();
 #endif //TMC2130
-    menu_menu = lcd_main_menu;
 }
-#endif //LINEARITY_CORRECTION
+
 
 static void lcd_calibration_menu()
 {
@@ -5560,7 +5632,7 @@ static void lcd_main_menu()
 	else
 	{
 #ifdef FILAMENT_SENSOR
-		if ( ((fsensor_autoload_enabled == true) && (fsensor_enabled == true)))
+		if ((fsensor_autoload_enabled == true) && (fsensor_enabled == true) && (mmu_enabled == false))
 			MENU_ITEM_SUBMENU_P(_i("AutoLoad filament"), lcd_menu_AutoLoadFilament);////MSG_AUTOLOAD_FILAMENT c=17 r=0
 		else
 #endif //FILAMENT_SENSOR
@@ -5635,16 +5707,14 @@ static void lcd_colorprint_change() {
 static void lcd_tune_menu()
 {
 	typedef struct
-	{	// 3bytes total
-		// To recognize, whether the menu has been just initialized.
-		int8_t  status;                                 // 1byte
-		// Backup of extrudemultiply, to recognize, that the value has been changed and
-		// it needs to be applied.
-		int16_t extrudemultiply;                        // 2byte
+	{
+	    menu_data_edit_t reserved; //!< reserved for number editing functions
+		int8_t  status; //!< To recognize, whether the menu has been just initialized.
+		//! Backup of extrudemultiply, to recognize, that the value has been changed and
+		//! it needs to be applied.
+		int16_t extrudemultiply;
 	} _menu_data_t;
-#if (3 > MENU_DATA_SIZE)
-#error "check MENU_DATA_SIZE definition!"
-#endif
+	static_assert(sizeof(menu_data)>= sizeof(_menu_data_t),"_menu_data_t doesn't fit into menu_data");
 	_menu_data_t* _md = (_menu_data_t*)&(menu_data[0]);
 	if (_md->status == 0)
 	{
@@ -6050,14 +6120,19 @@ bool lcd_selftest()
 	{
 		_progress = lcd_selftest_screen(8, _progress, 3, true, 2000); //bed ok
 #ifdef FILAMENT_SENSOR
-		_progress = lcd_selftest_screen(9, _progress, 3, true, 2000); //check filaments sensor
-		_result = lcd_selftest_fsensor();
+		if (mmu_enabled == false) {
+			_progress = lcd_selftest_screen(9, _progress, 3, true, 2000); //check filaments sensor
+			_result = lcd_selftest_fsensor();
+		}
 #endif // FILAMENT_SENSOR
 	}
 	if (_result)
 	{
 #ifdef FILAMENT_SENSOR
-		_progress = lcd_selftest_screen(10, _progress, 3, true, 2000); //fil sensor OK
+		if (mmu_enabled == false)
+		{
+			_progress = lcd_selftest_screen(10, _progress, 3, true, 2000); //fil sensor OK
+		}
 #endif // FILAMENT_SENSOR
 		_progress = lcd_selftest_screen(11, _progress, 3, true, 5000); //all correct
 	}
@@ -6954,6 +7029,12 @@ void menu_action_sddirectory(const char* filename)
 
 void ultralcd_init()
 {
+    {
+        uint8_t autoDepleteRaw = eeprom_read_byte(reinterpret_cast<uint8_t*>(EEPROM_AUTO_DEPLETE));
+        if (0xff == autoDepleteRaw) lcd_autoDeplete = false;
+        else lcd_autoDeplete = autoDepleteRaw;
+
+    }
 	lcd_init();
 	lcd_refresh();
 	lcd_longpress_func = menu_lcd_longpress_func;
diff --git a/Firmware/ultralcd.h b/Firmware/ultralcd.h
index 6c4ac0437..c6bbb900c 100644
--- a/Firmware/ultralcd.h
+++ b/Firmware/ultralcd.h
@@ -46,6 +46,7 @@ void lcd_menu_statistics();
 extern const char* lcd_display_message_fullscreen_P(const char *msg, uint8_t &nlines);
 extern const char* lcd_display_message_fullscreen_P(const char *msg);
 
+extern void lcd_return_to_status();
 extern void lcd_wait_for_click();
 extern void lcd_show_fullscreen_message_and_wait_P(const char *msg);
 // 0: no, 1: yes, -1: timeouted
@@ -112,6 +113,7 @@ extern int8_t SilentModeMenu;
 
 extern bool cancel_heatup;
 extern bool isPrintPaused;
+extern bool lcd_autoDeplete;
 
 
 void lcd_ignore_click(bool b=true);
diff --git a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
index dbce6a962..4dec83550 100644
--- a/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
+++ b/Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
@@ -100,7 +100,7 @@
 
 //Silent mode limits
 #define SILENT_MAX_ACCEL_XY      960ul  // max acceleration in silent mode in mm/s^2
-#define SILENT_MAX_FEEDRATE_XY   172  // max feedrate in mm/s
+#define SILENT_MAX_FEEDRATE_XY   100  // max feedrate in mm/s
 
 //Normal mode limits
 #define NORMAL_MAX_ACCEL_XY     2500ul  // max acceleration in normal mode in mm/s^2