diff --git a/k3ng_rotator_controller/k3ng_rotator_controller.ino b/k3ng_rotator_controller/k3ng_rotator_controller.ino
index 26d54ac..7a4020b 100644
--- a/k3ng_rotator_controller/k3ng_rotator_controller.ino
+++ b/k3ng_rotator_controller/k3ng_rotator_controller.ino
@@ -394,11 +394,22 @@
       Added FEATURE_FABO_LCD_PCF8574_DISPLAY
       Added PRESET_ENCODER_CHANGE_TIME_MS in settings files  
 
-     2018.12.25.01     
-       Fixed bug in RTC sync timing affecting SYNC_WITH_RTC_SECONDS (Thanks, Fred, VK2EFL for fix, and Steve, N4TTY for discovery)
+    2018.12.25.01     
+      Fixed bug in RTC sync timing affecting SYNC_WITH_RTC_SECONDS (Thanks, Fred, VK2EFL for fix, and Steve, N4TTY for discovery)
 
-     2019.01.03.01
-       Updated GS-232 M and W commands to accept azimuths over 360 degrees and improved parameter verification  
+    2019.01.03.01
+      Updated GS-232 M and W commands to accept azimuths over 360 degrees and improved parameter verification 
+
+    2020.02.05.01
+      Moved debug defines to rotator_debug_log_activation.h
+      FEATURE_AZ_ROTATION_STALL_DETECTION & FEATURE_EL_ROTATION_STALL_DETECTION
+        OPTION_ROTATION_STALL_DETECTION_SERIAL_MESSAGE
+        Settings
+          STALL_CHECK_FREQUENCY_MS_AZ
+          STALL_CHECK_DEGREES_THRESHOLD_AZ
+          STALL_CHECK_FREQUENCY_MS_EL
+          STALL_CHECK_DEGREES_THRESHOLD_EL
+        Pins: az_rotation_stall_detected, el_rotation_stall_detected
 
     All library files should be placed in directories likes \sketchbook\libraries\library1\ , \sketchbook\libraries\library2\ , etc.
     Anything rotator_*.* should be in the ino directory!
@@ -409,7 +420,7 @@
 
   */
 
-#define CODE_VERSION "2019.01.03.01"
+#define CODE_VERSION "2020.02.05.01"
 
 #include <avr/pgmspace.h>
 #include <EEPROM.h>
@@ -578,6 +589,7 @@
 
 #include "rotator_language.h"
 #include "rotator_debug.h"
+#include "rotator_debug_log_activation.h"
 
 
 /*----------------------- variables -------------------------------------*/
@@ -1131,8 +1143,13 @@ void loop() {
     #endif
   #endif // ndef FEATURE_REMOTE_UNIT_SLAVE
 
-  //read_headings();
+  #if defined(FEATURE_AZ_ROTATION_STALL_DETECTION)
+    az_check_rotation_stall();
+  #endif
 
+  #if defined(FEATURE_EL_ROTATION_STALL_DETECTION) && defined(FEATURE_ELEVATION_CONTROL)
+    el_check_rotation_stall();
+  #endif
 
   #ifdef OPTION_MORE_SERIAL_CHECKS
     check_serial();
@@ -2980,7 +2997,6 @@ void check_serial(){
           control_port_buffer_index++;
           control_port->write(incoming_serial_byte);
         }
-//zzzzz
         if (incoming_serial_byte == 13) {  // do we have a command termination?
           if ((control_port_buffer[0] == '\\') || (control_port_buffer[0] == '/')) {
             process_backslash_command(control_port_buffer, control_port_buffer_index, CONTROL_PORT0, return_string);
@@ -4417,8 +4433,6 @@ void update_display(){
 // TODO: FEATURE_PARK {done, need to test}, FEATURE_AZ_PRESET_ENCODER and FEATURE_EL_PRESET_ENCODER in status widget {done, need to test}
   
 
-//zzzzzz
-
   static unsigned long last_full_screen_redraw = 0;
 
   if ((millis() - last_full_screen_redraw) > 59999){
@@ -4655,6 +4669,92 @@ void az_check_operation_timeout(){
   }
 }
 
+// --------------------------------------------------------------
+//zzzzzzz
+#if defined(FEATURE_AZ_ROTATION_STALL_DETECTION)
+void az_check_rotation_stall(){
+
+  // check if rotation has stalled
+
+  static unsigned long last_check_time = 0;
+  static int last_raw_azimuth = 0;
+  static byte rotation_stall_pin_active = 0;
+
+  if (az_state != IDLE){
+    if (last_check_time == 0){
+      last_raw_azimuth = raw_azimuth;
+      last_check_time = millis();
+      if (rotation_stall_pin_active){
+        digitalWriteEnhanced(az_rotation_stall_detected,LOW);
+        rotation_stall_pin_active = 0;
+      }
+    } else {
+      if ((millis() - last_check_time) > STALL_CHECK_FREQUENCY_MS_AZ){
+        if ((abs((raw_azimuth - last_raw_azimuth))*HEADING_MULTIPLIER) < STALL_CHECK_DEGREES_THRESHOLD_AZ){
+          #ifdef DEBUG_ROTATION_STALL_DETECTION
+            debug.println("az_check_rotation_stall: REQUEST_KILL");
+          #endif
+          #ifdef OPTION_ROTATION_STALL_DETECTION_SERIAL_MESSAGE
+            control_port->println("AZ Rotation Stall Detected");
+          #endif  
+          submit_request(AZ, REQUEST_KILL, 0, 78);
+          digitalWriteEnhanced(az_rotation_stall_detected,HIGH);
+          rotation_stall_pin_active = 1;
+          last_check_time = 0;
+        } else {
+          last_raw_azimuth = raw_azimuth;
+          last_check_time = millis();
+        }
+      }
+    }
+  } else {
+    last_check_time = 0;
+  }
+}
+#endif //FEATURE_AZ_ROTATION_STALL_DETECTION
+// --------------------------------------------------------------
+//zzzzzzz
+#if defined(FEATURE_EL_ROTATION_STALL_DETECTION) && defined(FEATURE_ELEVATION_CONTROL)
+void el_check_rotation_stall(){
+
+  // check if rotation has stalled
+
+  static unsigned long last_check_time = 0;
+  static int last_elevation = 0;
+  static byte rotation_stall_pin_active = 0;
+
+  if (el_state != IDLE){
+    if (last_check_time == 0){
+      last_elevation = elevation;
+      last_check_time = millis();
+      if (rotation_stall_pin_active){
+        digitalWriteEnhanced(el_rotation_stall_detected,LOW);
+        rotation_stall_pin_active = 0;
+      }
+    } else {
+      if ((millis() - last_check_time) > STALL_CHECK_FREQUENCY_MS_EL){
+        if ((abs((elevation - last_elevation))*HEADING_MULTIPLIER) < STALL_CHECK_DEGREES_THRESHOLD_AZ){
+          #ifdef DEBUG_ROTATION_STALL_DETECTION
+            debug.println("el_check_rotation_stall: REQUEST_KILL");
+          #endif
+          #ifdef OPTION_ROTATION_STALL_DETECTION_SERIAL_MESSAGE
+            control_port->println("EL Rotation Stall Detected");
+          #endif            
+          submit_request(EL, REQUEST_KILL, 0, 78);
+          digitalWriteEnhanced(el_rotation_stall_detected,HIGH);
+          rotation_stall_pin_active = 1;
+          last_check_time = 0;
+        } else {
+          last_elevation = elevation;
+          last_check_time = millis();
+        }
+      }
+    }
+  } else {
+    last_check_time = 0;
+  }
+}
+#endif //FEATURE_EL_ROTATION_STALL_DETECTION
 // --------------------------------------------------------------
 
 #ifdef FEATURE_TIMED_BUFFER
@@ -7352,6 +7452,16 @@ void initialize_pins(){
     }
   #endif //FEATURE_AUDIBLE_ALERT
 
+  #ifdef FEATURE_AZ_ROTATION_STALL_DETECTION
+    pinModeEnhanced(az_rotation_stall_detected, OUTPUT);
+    digitalWriteEnhanced(az_rotation_stall_detected, LOW);
+  #endif //FEATURE_AZ_ROTATION_STALL_DETECTION
+
+  #ifdef FEATURE_EL_ROTATION_STALL_DETECTION
+    pinModeEnhanced(el_rotation_stall_detected, OUTPUT);
+    digitalWriteEnhanced(el_rotation_stall_detected, LOW);
+  #endif //FEATURE_EL_ROTATION_STALL_DETECTION  
+
 } /* initialize_pins */
 
 // --------------------------------------------------------------
@@ -11746,8 +11856,6 @@ byte process_backslash_command(byte input_buffer[], int input_buffer_index, byte
     configuration_dirty = 1;
     break;
 
-// zzzzzzz
-
 // TODO : one big status query command    
 
   #if !defined(OPTION_SAVE_MEMORY_EXCLUDE_EXTENDED_COMMANDS)
@@ -12343,7 +12451,6 @@ void process_easycom_command(byte * easycom_command_buffer, int easycom_command_
 void process_dcu_1_command(byte * dcu_1_command_buffer, int dcu_1_command_buffer_index, byte source_port, char * return_string){
 
 
-//zzzzzzz
 
   /* DCU-1 protocol implementation
 
diff --git a/k3ng_rotator_controller/rotator_debug_log_activation.h b/k3ng_rotator_controller/rotator_debug_log_activation.h
new file mode 100644
index 0000000..5b570ca
--- /dev/null
+++ b/k3ng_rotator_controller/rotator_debug_log_activation.h
@@ -0,0 +1,62 @@
+/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */
+
+
+
+#define DEFAULT_DEBUG_STATE 0 // 1 = activate debug mode at startup; this should be set to zero unless you're debugging something at startup
+
+#define DEBUG_DUMP  // normally compile with this activated unless you're really trying to save memory
+// #define DEBUG_LOOP
+// #define DEBUG_BUTTONS
+// #define DEBUG_SERIAL
+// #define DEBUG_SERVICE_REQUEST_QUEUE
+// #define DEBUG_EEPROM
+// #define DEBUG_AZ_SPEED_POT
+// #define DEBUG_AZ_PRESET_POT
+// #define DEBUG_PRESET_ENCODERS
+// #define DEBUG_AZ_MANUAL_ROTATE_LIMITS
+// #define DEBUG_EL_MANUAL_ROTATE_LIMITS
+// #define DEBUG_BRAKE
+// #define DEBUG_OVERLAP
+// #define DEBUG_DISPLAY
+// #define DEBUG_AZ_CHECK_OPERATION_TIMEOUT
+// #define DEBUG_TIMED_BUFFER
+// #define DEBUG_EL_CHECK_OPERATION_TIMEOUT
+// #define DEBUG_VARIABLE_OUTPUTS
+// #define DEBUG_ROTATOR
+// #define DEBUG_SUBMIT_REQUEST
+// #define DEBUG_SERVICE_ROTATION
+// #define DEBUG_POSITION_ROTARY_ENCODER
+// #define DEBUG_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY
+// #define DEBUG_PROFILE_LOOP_TIME
+// #define DEBUG_POSITION_PULSE_INPUT
+// #define DEBUG_ACCEL
+// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
+// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
+// #define DEBUG_HEADING_READING_TIME
+// #define DEBUG_JOYSTICK
+// #define DEBUG_ROTATION_INDICATION_PIN
+// #define DEBUG_HH12
+// #define DEBUG_PARK
+// #define DEBUG_LIMIT_SENSE
+// #define DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
+// #define DEBUG_EL_POSITION_INCREMENTAL_ENCODER
+// #define DEBUG_MOON_TRACKING
+// #define DEBUG_SUN_TRACKING
+// #define DEBUG_GPS
+// #define DEBUG_GPS_SERIAL
+// #define DEBUG_OFFSET
+// #define DEBUG_RTC
+// #define DEBUG_PROCESS_YAESU
+// #define DEBUG_ETHERNET
+// #define DEBUG_PROCESS_SLAVE
+// #define DEBUG_MEMSIC_2125
+// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
+// #define DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
+// #define DEBUG_HMC5883L
+// #define DEBUG_POLOLU_LSM303_CALIBRATION
+// #define DEBUG_STEPPER
+// #define DEBUG_AUTOCORRECT
+// #define DEBUG_A2_ENCODER
+// #define DEBUG_A2_ENCODER_LOOPBACK_TEST
+// #define DEBUG_QMC5883
+// #define DEBUG_ROTATION_STALL_DETECTION
\ No newline at end of file
diff --git a/k3ng_rotator_controller/rotator_features.h b/k3ng_rotator_controller/rotator_features.h
index 3b3d5d4..34ca526 100755
--- a/k3ng_rotator_controller/rotator_features.h
+++ b/k3ng_rotator_controller/rotator_features.h
@@ -121,6 +121,9 @@
 // #define FEATURE_TWO_DECIMAL_PLACE_HEADINGS  // under development - not working yet!
 // #define FEATURE_AZIMUTH_CORRECTION        // correct the azimuth using a calibration table in rotator_settings.h
 // #define FEATURE_ELEVATION_CORRECTION      // correct the elevation using a calibration table in rotator_settings.h
+// #define FEATURE_AZ_ROTATION_STALL_DETECTION // Azimuth rotation stall detection - pin: az_rotation_stall_detected
+// #define FEATURE_EL_ROTATION_STALL_DETECTION // Elevation rotation stall detection - pin: el_rotation_stall_detected
+// #define OPTION_ROTATION_STALL_DETECTION_SERIAL_MESSAGE // Sends message out serial port when rotation stall has been detected
 // #define FEATURE_ANCILLARY_PIN_CONTROL     // control I/O pins with serial commands \F, \N, \P
 // #define FEATURE_JOYSTICK_CONTROL          // analog joystick support
 // #define OPTION_JOYSTICK_REVERSE_X_AXIS
@@ -170,71 +173,3 @@
 // #define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
 // #define OPTION_MORE_SERIAL_CHECKS
 // #define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE  
-
-/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */
-
-
-
-#define DEFAULT_DEBUG_STATE 0 // 1 = activate debug mode at startup; this should be set to zero unless you're debugging something at startup
-
-#define DEBUG_DUMP  // normally compile with this activated unless you're really trying to save memory
-// #define DEBUG_LOOP
-// #define DEBUG_BUTTONS
-// #define DEBUG_SERIAL
-// #define DEBUG_SERVICE_REQUEST_QUEUE
-// #define DEBUG_EEPROM
-// #define DEBUG_AZ_SPEED_POT
-// #define DEBUG_AZ_PRESET_POT
-// #define DEBUG_PRESET_ENCODERS
-// #define DEBUG_AZ_MANUAL_ROTATE_LIMITS
-// #define DEBUG_EL_MANUAL_ROTATE_LIMITS
-// #define DEBUG_BRAKE
-// #define DEBUG_OVERLAP
-// #define DEBUG_DISPLAY
-// #define DEBUG_AZ_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_TIMED_BUFFER
-// #define DEBUG_EL_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_VARIABLE_OUTPUTS
-// #define DEBUG_ROTATOR
-// #define DEBUG_SUBMIT_REQUEST
-// #define DEBUG_SERVICE_ROTATION
-// #define DEBUG_POSITION_ROTARY_ENCODER
-// #define DEBUG_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY  
-// #define DEBUG_PROFILE_LOOP_TIME
-// #define DEBUG_POSITION_PULSE_INPUT
-// #define DEBUG_ACCEL
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
-// #define DEBUG_HEADING_READING_TIME
-// #define DEBUG_JOYSTICK
-// #define DEBUG_ROTATION_INDICATION_PIN
-// #define DEBUG_HH12
-// #define DEBUG_PARK
-// #define DEBUG_LIMIT_SENSE
-// #define DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_EL_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_MOON_TRACKING
-// #define DEBUG_SUN_TRACKING
-// #define DEBUG_GPS
-// #define DEBUG_GPS_SERIAL
-// #define DEBUG_OFFSET
-// #define DEBUG_RTC
-// #define DEBUG_PROCESS_YAESU
-// #define DEBUG_ETHERNET
-// #define DEBUG_PROCESS_SLAVE
-// #define DEBUG_MEMSIC_2125
-// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
-// #define DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
-// #define DEBUG_HMC5883L
-// #define DEBUG_POLOLU_LSM303_CALIBRATION
-// #define DEBUG_STEPPER
-// #define DEBUG_AUTOCORRECT
-// #define DEBUG_A2_ENCODER
-// #define DEBUG_A2_ENCODER_LOOPBACK_TEST
-// #define DEBUG_QMC5883  
-
-
-
-
-
-
diff --git a/k3ng_rotator_controller/rotator_features_ea4tx_ars_usb.h b/k3ng_rotator_controller/rotator_features_ea4tx_ars_usb.h
index a13fa41..977dc0d 100644
--- a/k3ng_rotator_controller/rotator_features_ea4tx_ars_usb.h
+++ b/k3ng_rotator_controller/rotator_features_ea4tx_ars_usb.h
@@ -57,63 +57,3 @@
 //#define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
 //#define OPTION_MORE_SERIAL_CHECKS
 //#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
-
-
-/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */
-
-
-
-#define DEFAULT_DEBUG_STATE 0// this should be set to zero unless you're debugging something at startup
-
-#define DEBUG_DUMP
-// #define DEBUG_BUTTONS
-// #define DEBUG_SERIAL
-// #define DEBUG_SERVICE_REQUEST_QUEUE
-// #define DEBUG_EEPROM
-// #define DEBUG_AZ_SPEED_POT
-// #define DEBUG_AZ_PRESET_POT
-// #define DEBUG_PRESET_ENCODERS
-// #define DEBUG_AZ_MANUAL_ROTATE_LIMITS
-// #define DEBUG_EL_MANUAL_ROTATE_LIMITS
-// #define DEBUG_BRAKE
-// #define DEBUG_OVERLAP
-// #define DEBUG_DISPLAY
-// #define DEBUG_AZ_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_TIMED_BUFFER
-// #define DEBUG_EL_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_VARIABLE_OUTPUTS
-// #define DEBUG_ROTATOR
-// #define DEBUG_SUBMIT_REQUEST
-// #define DEBUG_SERVICE_ROTATION
-// #define DEBUG_POSITION_ROTARY_ENCODER
-// #define DEBUG_PROFILE_LOOP_TIME
-// #define DEBUG_POSITION_PULSE_INPUT
-// #define DEBUG_ACCEL
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
-// #define DEBUG_HEADING_READING_TIME
-// #define DEBUG_JOYSTICK
-// #define DEBUG_ROTATION_INDICATION_PIN
-// #define DEBUG_HH12
-// #define DEBUG_PARK
-// #define DEBUG_LIMIT_SENSE
-// #define DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_EL_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_MOON_TRACKING
-// #define DEBUG_SUN_TRACKING
-// #define DEBUG_GPS
-// #define DEBUG_GPS_SERIAL
-// #define DEBUG_OFFSET
-// #define DEBUG_RTC
-// #define DEBUG_PROCESS_YAESU
-// #define DEBUG_ETHERNET
-// #define DEBUG_PROCESS_SLAVE
-// #define DEBUG_MEMSIC_2125
-// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
-// #define DEBUG_QMC5883
-
-
-
-
-
-
diff --git a/k3ng_rotator_controller/rotator_features_m0upu.h b/k3ng_rotator_controller/rotator_features_m0upu.h
index 83ab6c4..60ea089 100755
--- a/k3ng_rotator_controller/rotator_features_m0upu.h
+++ b/k3ng_rotator_controller/rotator_features_m0upu.h
@@ -117,6 +117,9 @@
 //#define FEATURE_TWO_DECIMAL_PLACE_HEADINGS  // under development - not working yet!
 //#define FEATURE_AZIMUTH_CORRECTION        // correct the azimuth using a calibration table in rotator_settings.h
 //#define FEATURE_ELEVATION_CORRECTION      // correct the elevation using a calibration table in rotator_settings.h
+//#define FEATURE_AZ_ROTATION_STALL_DETECTION // Azimuth rotation stall detection - pin: az_rotation_stall_detected
+//#define FEATURE_EL_ROTATION_STALL_DETECTION // Elevation rotation stall detection - pin: el_rotation_stall_detected
+//#define OPTION_ROTATION_STALL_DETECTION_SERIAL_MESSAGE // Sends message out serial port when rotation stall has been detected
 //#define FEATURE_ANCILLARY_PIN_CONTROL     // control I/O pins with serial commands \F, \N, \P
 //#define FEATURE_JOYSTICK_CONTROL          // analog joystick support
 //#define OPTION_JOYSTICK_REVERSE_X_AXIS
@@ -157,68 +160,3 @@
 //#define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
 //#define OPTION_MORE_SERIAL_CHECKS
 //#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE  
-
-/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */
-
-
-
-#define DEFAULT_DEBUG_STATE 0 // 1 = activate debug mode at startup; this should be set to zero unless you're debugging something at startup
-
-#define DEBUG_DUMP  // normally compile with this activated unless you're really trying to save memory
-// #define DEBUG_BUTTONS
-// #define DEBUG_SERIAL
-// #define DEBUG_SERVICE_REQUEST_QUEUE
-// #define DEBUG_EEPROM
-// #define DEBUG_AZ_SPEED_POT
-// #define DEBUG_AZ_PRESET_POT
-// #define DEBUG_PRESET_ENCODERS
-// #define DEBUG_AZ_MANUAL_ROTATE_LIMITS
-// #define DEBUG_EL_MANUAL_ROTATE_LIMITS
-// #define DEBUG_BRAKE
-// #define DEBUG_OVERLAP
-// #define DEBUG_DISPLAY
-// #define DEBUG_AZ_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_TIMED_BUFFER
-// #define DEBUG_EL_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_VARIABLE_OUTPUTS
-// #define DEBUG_ROTATOR
-// #define DEBUG_SUBMIT_REQUEST
-// #define DEBUG_SERVICE_ROTATION
-// #define DEBUG_POSITION_ROTARY_ENCODER
-// #define DEBUG_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY  
-// #define DEBUG_PROFILE_LOOP_TIME
-// #define DEBUG_POSITION_PULSE_INPUT
-// #define DEBUG_ACCEL
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
-// #define DEBUG_HEADING_READING_TIME
-// #define DEBUG_JOYSTICK
-// #define DEBUG_ROTATION_INDICATION_PIN
-// #define DEBUG_HH12
-// #define DEBUG_PARK
-// #define DEBUG_LIMIT_SENSE
-// #define DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_EL_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_MOON_TRACKING
-// #define DEBUG_SUN_TRACKING
-// #define DEBUG_GPS
-// #define DEBUG_GPS_SERIAL
-// #define DEBUG_OFFSET
-// #define DEBUG_RTC
-// #define DEBUG_PROCESS_YAESU
-// #define DEBUG_ETHERNET
-// #define DEBUG_PROCESS_SLAVE
-// #define DEBUG_MEMSIC_2125
-// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
-// #define DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
-// #define DEBUG_HMC5883L
-// #define DEBUG_POLOLU_LSM303_CALIBRATION
-// #define DEBUG_STEPPER
-// #define DEBUG_AUTOCORRECT
-// #define DEBUG_QMC5883
-
-
-
-
-
-
diff --git a/k3ng_rotator_controller/rotator_features_test.h b/k3ng_rotator_controller/rotator_features_test.h
index 070ab10..42a1183 100755
--- a/k3ng_rotator_controller/rotator_features_test.h
+++ b/k3ng_rotator_controller/rotator_features_test.h
@@ -127,6 +127,9 @@
 //#define FEATURE_TWO_DECIMAL_PLACE_HEADINGS  // under development - not working yet!
 //#define FEATURE_AZIMUTH_CORRECTION        // correct the azimuth using a calibration table in rotator_settings.h
 //#define FEATURE_ELEVATION_CORRECTION      // correct the elevation using a calibration table in rotator_settings.h
+//#define FEATURE_AZ_ROTATION_STALL_DETECTION // Azimuth rotation stall detection - pin: az_rotation_stall_detected
+//#define FEATURE_EL_ROTATION_STALL_DETECTION // Elevation rotation stall detection - pin: el_rotation_stall_detected
+//#define OPTION_ROTATION_STALL_DETECTION_SERIAL_MESSAGE // Sends message out serial port when rotation stall has been detected
 //#define FEATURE_ANCILLARY_PIN_CONTROL     // control I/O pins with serial commands \F, \N, \P
 //#define FEATURE_JOYSTICK_CONTROL          // analog joystick support
 //#define OPTION_JOYSTICK_REVERSE_X_AXIS
@@ -151,7 +154,7 @@
 //#define OPTION_DISPLAY_DIRECTION_STATUS // N, W, E, S, NW, etc. direction indicator
 #define OPTION_DISPLAY_SUN_TRACKING_CONTINUOUSLY
 //#define OPTION_DISPLAY_MOON_OR_SUN_TRACKING_CONDITIONAL
-// #define OPTION_DISPLAY_VERSION_ON_STARTUP  //code provided by Paolo, IT9IPQ
+#define OPTION_DISPLAY_VERSION_ON_STARTUP  //code provided by Paolo, IT9IPQ
 // #define OPTION_LCD_HEADING_FIELD_FIXED_DECIMAL_PLACE
 
 //#define FEATURE_POWER_SWITCH
@@ -187,69 +190,9 @@
 										//    ##    ########  ######     ##  
 
 
-/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */
 
 
 
-#define DEFAULT_DEBUG_STATE 0 // 1 = activate debug mode at startup; this should be set to zero unless you're debugging something at startup
-
-#define DEBUG_DUMP  // normally compile with this activated unless you're really trying to save memory
-// #define DEBUG_LOOP
-// #define DEBUG_BUTTONS
-// #define DEBUG_SERIAL
-// #define DEBUG_SERVICE_REQUEST_QUEUE
-// #define DEBUG_EEPROM
-// #define DEBUG_AZ_SPEED_POT
-// #define DEBUG_AZ_PRESET_POT
-// #define DEBUG_PRESET_ENCODERS
-// #define DEBUG_AZ_MANUAL_ROTATE_LIMITS
-// #define DEBUG_EL_MANUAL_ROTATE_LIMITS
-// #define DEBUG_BRAKE
-// #define DEBUG_OVERLAP
-// #define DEBUG_DISPLAY
-// #define DEBUG_AZ_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_TIMED_BUFFER
-// #define DEBUG_EL_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_VARIABLE_OUTPUTS
-// #define DEBUG_ROTATOR
-// #define DEBUG_SUBMIT_REQUEST
-// #define DEBUG_SERVICE_ROTATION
-// #define DEBUG_POSITION_ROTARY_ENCODER
-// #define DEBUG_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY
-// #define DEBUG_PROFILE_LOOP_TIME
-// #define DEBUG_POSITION_PULSE_INPUT
-// #define DEBUG_ACCEL
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
-// #define DEBUG_HEADING_READING_TIME
-// #define DEBUG_JOYSTICK
-// #define DEBUG_ROTATION_INDICATION_PIN
-// #define DEBUG_HH12
-// #define DEBUG_PARK
-// #define DEBUG_LIMIT_SENSE
-// #define DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_EL_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_MOON_TRACKING
-// #define DEBUG_SUN_TRACKING
-// #define DEBUG_GPS
-// #define DEBUG_GPS_SERIAL
-// #define DEBUG_OFFSET
-// #define DEBUG_RTC
-// #define DEBUG_PROCESS_YAESU
-// #define DEBUG_ETHERNET
-// #define DEBUG_PROCESS_SLAVE
-// #define DEBUG_MEMSIC_2125
-// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
-// #define DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
-// #define DEBUG_HMC5883L
-// #define DEBUG_POLOLU_LSM303_CALIBRATION
-// #define DEBUG_STEPPER
-// #define DEBUG_AUTOCORRECT
-// #define DEBUG_A2_ENCODER
-// #define DEBUG_A2_ENCODER_LOOPBACK_TEST
-// #define DEBUG_QMC5883
-
-
 								// ######## ########  ######  ######## 
 								//    ##    ##       ##    ##    ##    
 								//    ##    ##       ##          ##    
diff --git a/k3ng_rotator_controller/rotator_features_wb6kcn.h b/k3ng_rotator_controller/rotator_features_wb6kcn.h
index d307929..8e048d4 100755
--- a/k3ng_rotator_controller/rotator_features_wb6kcn.h
+++ b/k3ng_rotator_controller/rotator_features_wb6kcn.h
@@ -162,67 +162,3 @@
   uncomment #define OPTION_C_COMMAND_SENDS_AZ_AND_EL.
   
   */
-
-/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */
-
-
-
-#define DEFAULT_DEBUG_STATE 0// this should be set to zero unless you're debugging something at startup
-
-#define DEBUG_DUMP
-// #define DEBUG_BUTTONS
-// #define DEBUG_SERIAL
-// #define DEBUG_SERVICE_REQUEST_QUEUE
-// #define DEBUG_EEPROM
-// #define DEBUG_AZ_SPEED_POT
-// #define DEBUG_AZ_PRESET_POT
-// #define DEBUG_PRESET_ENCODERS
-// #define DEBUG_AZ_MANUAL_ROTATE_LIMITS
-// #define DEBUG_EL_MANUAL_ROTATE_LIMITS
-// #define DEBUG_BRAKE
-// #define DEBUG_OVERLAP
-// #define DEBUG_DISPLAY
-// #define DEBUG_AZ_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_TIMED_BUFFER
-// #define DEBUG_EL_CHECK_OPERATION_TIMEOUT
-// #define DEBUG_VARIABLE_OUTPUTS
-// #define DEBUG_ROTATOR
-// #define DEBUG_SUBMIT_REQUEST
-// #define DEBUG_SERVICE_ROTATION
-// #define DEBUG_POSITION_ROTARY_ENCODER
-// #define DEBUG_POSITION_ROTARY_ENCODER_USE_PJRC_LIBRARY  
-// #define DEBUG_PROFILE_LOOP_TIME
-// #define DEBUG_POSITION_PULSE_INPUT
-// #define DEBUG_ACCEL
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER
-// #define DEBUG_SVC_REMOTE_COMM_INCOMING_BUFFER_BAD_DATA
-// #define DEBUG_HEADING_READING_TIME
-// #define DEBUG_JOYSTICK
-// #define DEBUG_ROTATION_INDICATION_PIN
-// #define DEBUG_HH12
-// #define DEBUG_PARK
-// #define DEBUG_LIMIT_SENSE
-// #define DEBUG_AZ_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_EL_POSITION_INCREMENTAL_ENCODER
-// #define DEBUG_MOON_TRACKING
-// #define DEBUG_SUN_TRACKING
-// #define DEBUG_GPS
-// #define DEBUG_GPS_SERIAL
-// #define DEBUG_OFFSET
-// #define DEBUG_RTC
-// #define DEBUG_PROCESS_YAESU
-// #define DEBUG_ETHERNET
-// #define DEBUG_PROCESS_SLAVE
-// #define DEBUG_MEMSIC_2125
-// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
-// #define DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
-// #define DEBUG_HMC5883L
-// #define DEBUG_POLOLU_LSM303_CALIBRATION
-// #define DEBUG_STEPPER
-// #define DEBUG_AUTOCORRECT
-// #define DEBUG_QMC5883  
-
-
-
-
-
diff --git a/k3ng_rotator_controller/rotator_pins.h b/k3ng_rotator_controller/rotator_pins.h
index 0c3fbbd..2d14398 100755
--- a/k3ng_rotator_controller/rotator_pins.h
+++ b/k3ng_rotator_controller/rotator_pins.h
@@ -33,6 +33,7 @@
 #define blink_led 0
 #define az_stepper_motor_pulse 44 //0
 #define az_stepper_motor_direction 0
+#define az_rotation_stall_detected 0
 
 
 
@@ -52,6 +53,7 @@
   #define brake_el 0                // goes high to disengage elevation brake (set to 0 to disable)
   #define elevation_speed_voltage  0 // optional - PWM output for speed control voltage feed into rotator (on continually unlike rotate_up_pwm and rotate_down_pwm)
   #define el_stepper_motor_pulse 0
+  #define el_rotation_stall_detected 0
 #endif //FEATURE_ELEVATION_CONTROL
 
 // rotary encoder pins and options
diff --git a/k3ng_rotator_controller/rotator_pins_m0upu.h b/k3ng_rotator_controller/rotator_pins_m0upu.h
index ae34027..364fb2a 100644
--- a/k3ng_rotator_controller/rotator_pins_m0upu.h
+++ b/k3ng_rotator_controller/rotator_pins_m0upu.h
@@ -30,6 +30,7 @@
 #define rotation_indication_pin 0
 #define az_stepper_motor_pulse 0
 #define az_stepper_motor_direction 0
+#define az_rotation_stall_detected 0
 
 
 // elevation pins
@@ -49,6 +50,7 @@
 #define brake_el 0                // goes high to disengage elevation brake (set to 0 to disable)
 #define el_stepper_motor_pulse 0
 #define el_stepper_motor_direction 0
+#define el_rotation_stall_detected 0
 #endif //FEATURE_ELEVATION_CONTROL
 
 
diff --git a/k3ng_rotator_controller/rotator_pins_test.h b/k3ng_rotator_controller/rotator_pins_test.h
index a2ae74b..6e44957 100644
--- a/k3ng_rotator_controller/rotator_pins_test.h
+++ b/k3ng_rotator_controller/rotator_pins_test.h
@@ -40,6 +40,7 @@
 #define blink_led 0
 #define az_stepper_motor_pulse 0
 #define az_stepper_motor_direction 0
+#define az_rotation_stall_detected 0
 
 
 // elevation pins
@@ -59,6 +60,7 @@
 #define brake_el 0                // goes high to disengage elevation brake (set to 0 to disable)
 #define el_stepper_motor_pulse 0
 #define el_stepper_motor_direction 0
+#define el_rotation_stall_detected 0
 #endif //FEATURE_ELEVATION_CONTROL
 
 
diff --git a/k3ng_rotator_controller/rotator_settings.h b/k3ng_rotator_controller/rotator_settings.h
index 82322eb..5852362 100755
--- a/k3ng_rotator_controller/rotator_settings.h
+++ b/k3ng_rotator_controller/rotator_settings.h
@@ -341,6 +341,13 @@ You can tweak these, but read the online documentation!
 
 #define PRESET_ENCODER_CHANGE_TIME_MS 2000 
 
+// FEATURE_AZ_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_AZ 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_AZ 2
+// FEATURE_EL_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_EL 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_EL 2
+
 //#define SET_I2C_BUS_SPEED 800000L // Can set up to 800 kHz, depending on devices.  800000L = 800 khz, 400000L = 400 khz.  Default is 100 khz
 
   
diff --git a/k3ng_rotator_controller/rotator_settings_ea4tx_ars_usb.h b/k3ng_rotator_controller/rotator_settings_ea4tx_ars_usb.h
index bcbd1a3..1eee2d7 100755
--- a/k3ng_rotator_controller/rotator_settings_ea4tx_ars_usb.h
+++ b/k3ng_rotator_controller/rotator_settings_ea4tx_ars_usb.h
@@ -331,5 +331,12 @@ You can tweak these, but read the online documentation!
 
 #define PRESET_ENCODER_CHANGE_TIME_MS 2000  
 
+// FEATURE_AZ_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_AZ 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_AZ 2
+// FEATURE_EL_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_EL 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_EL 2
+
 //#define SET_I2C_BUS_SPEED 800000L // Can set up to 800 kHz, depending on devices.  800000L = 800 khz, 400000L = 400 khz.  Default is 100 khz
   
diff --git a/k3ng_rotator_controller/rotator_settings_m0upu.h b/k3ng_rotator_controller/rotator_settings_m0upu.h
index 0dc9ada..c96aa07 100755
--- a/k3ng_rotator_controller/rotator_settings_m0upu.h
+++ b/k3ng_rotator_controller/rotator_settings_m0upu.h
@@ -330,6 +330,13 @@ You can tweak these, but read the online documentation!
 #define OVERLAP_LED_INACTIVE_STATE LOW   
 
 #define PRESET_ENCODER_CHANGE_TIME_MS 2000  
+
+// FEATURE_AZ_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_AZ 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_AZ 2
+// FEATURE_EL_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_EL 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_EL 2
   
 //#define SET_I2C_BUS_SPEED 800000L // Can set up to 800 kHz, depending on devices.  800000L = 800 khz, 400000L = 400 khz.  Default is 100 khz
   
diff --git a/k3ng_rotator_controller/rotator_settings_test.h b/k3ng_rotator_controller/rotator_settings_test.h
index 40a7ebe..dd16c76 100755
--- a/k3ng_rotator_controller/rotator_settings_test.h
+++ b/k3ng_rotator_controller/rotator_settings_test.h
@@ -351,6 +351,13 @@ You can tweak these, but read the online documentation!
 
 #define PRESET_ENCODER_CHANGE_TIME_MS 2000
 
+// FEATURE_AZ_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_AZ 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_AZ 2
+// FEATURE_EL_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_EL 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_EL 2
+
 //#define SET_I2C_BUS_SPEED 800000L // Can set up to 800 kHz, depending on devices.  800000L = 800 khz, 400000L = 400 khz.  Default is 100 khz
 
 
diff --git a/k3ng_rotator_controller/rotator_settings_wb6kcn.h b/k3ng_rotator_controller/rotator_settings_wb6kcn.h
index b4d460c..9ed1775 100755
--- a/k3ng_rotator_controller/rotator_settings_wb6kcn.h
+++ b/k3ng_rotator_controller/rotator_settings_wb6kcn.h
@@ -333,6 +333,13 @@ You can tweak these, but read the online documentation!
 
 #define PRESET_ENCODER_CHANGE_TIME_MS 2000  
 
+// FEATURE_AZ_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_AZ 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_AZ 2
+// FEATURE_EL_ROTATION_STALL_DETECTION
+#define STALL_CHECK_FREQUENCY_MS_EL 2000
+#define STALL_CHECK_DEGREES_THRESHOLD_EL 2
+
 //#define SET_I2C_BUS_SPEED 800000L // Can set up to 800 kHz, depending on devices.  800000L = 800 khz, 400000L = 400 khz.  Default is 100 khz
 
   
\ No newline at end of file