diff --git a/firmware/v5-common.ld b/firmware/v5-common.ld
index e3ea12e1d..762a90551 100644
--- a/firmware/v5-common.ld
+++ b/firmware/v5-common.ld
@@ -27,15 +27,15 @@ SECTIONS
    *(.vfp11_veneer)
    *(.ARM.extab)
    *(.gnu.linkonce.armextab.*)
-} > MEMORY
+} > RAM
 
 .init : {
    KEEP (*(.init))
-} > MEMORY
+} > RAM
 
 .fini : {
    KEEP (*(.fini))
-} > MEMORY
+} > RAM
 
 .rodata : {
    __rodata_start = .;
@@ -43,14 +43,14 @@ SECTIONS
    *(.rodata.*)
    *(.gnu.linkonce.r.*)
    __rodata_end = .;
-} > MEMORY
+} > RAM
 
 .rodata1 : {
    __rodata1_start = .;
    *(.rodata1)
    *(.rodata1.*)
    __rodata1_end = .;
-} > MEMORY
+} > RAM
 
 .sdata2 : {
    __sdata2_start = .;
@@ -58,7 +58,7 @@ SECTIONS
    *(.sdata2.*)
    *(.gnu.linkonce.s2.*)
    __sdata2_end = .;
-} > MEMORY
+} > RAM
 
 .sbss2 : {
    __sbss2_start = .;
@@ -66,7 +66,7 @@ SECTIONS
    *(.sbss2.*)
    *(.gnu.linkonce.sb2.*)
    __sbss2_end = .;
-} > MEMORY
+} > RAM
 
 .data : {
    __data_start = .;
@@ -77,18 +77,18 @@ SECTIONS
    *(.got)
    *(.got.plt)
    __data_end = .;
-} > MEMORY
+} > RAM
 
 .data1 : {
    __data1_start = .;
    *(.data1)
    *(.data1.*)
    __data1_end = .;
-} > MEMORY
+} > RAM
 
 .got : {
    *(.got)
-} > MEMORY
+} > RAM
 
 .ctors : {
    __CTOR_LIST__ = .;
@@ -99,7 +99,7 @@ SECTIONS
    KEEP (*(.ctors))
    __CTOR_END__ = .;
    ___CTORS_END___ = .;
-} > MEMORY
+} > RAM
 
 .dtors : {
    __DTOR_LIST__ = .;
@@ -110,67 +110,67 @@ SECTIONS
    KEEP (*(.dtors))
    __DTOR_END__ = .;
    ___DTORS_END___ = .;
-} > MEMORY
+} > RAM
 
 .fixup : {
    __fixup_start = .;
    *(.fixup)
    __fixup_end = .;
-} > MEMORY
+} > RAM
 
 .eh_frame : {
    *(.eh_frame)
-} > MEMORY
+} > RAM
 
 .eh_framehdr : {
    __eh_framehdr_start = .;
    *(.eh_framehdr)
    __eh_framehdr_end = .;
-} > MEMORY
+} > RAM
 
 .gcc_except_table : {
    *(.gcc_except_table)
-} > MEMORY
+} > RAM
 
 .mmu_tbl (ALIGN(16384)) : {
    __mmu_tbl_start = .;
    *(.mmu_tbl)
    __mmu_tbl_end = .;
-} > MEMORY
+} > RAM
 
 .ARM.exidx : {
    __exidx_start = .;
    *(.ARM.exidx*)
    *(.gnu.linkonce.armexidix.*.*)
    __exidx_end = .;
-} > MEMORY
+} > RAM
 
 .preinit_array : {
    __preinit_array_start = .;
    KEEP (*(SORT(.preinit_array.*)))
    KEEP (*(.preinit_array))
    __preinit_array_end = .;
-} > MEMORY
+} > RAM
 
 .init_array : {
    __init_array_start = .;
    KEEP (*(SORT(.init_array.*)))
    KEEP (*(.init_array))
    __init_array_end = .;
-} > MEMORY
+} > RAM
 
 .fini_array : {
    __fini_array_start = .;
    KEEP (*(SORT(.fini_array.*)))
    KEEP (*(.fini_array))
    __fini_array_end = .;
-} > MEMORY
+} > RAM
 
 .ARM.attributes : {
    __ARM.attributes_start = .;
    *(.ARM.attributes)
    __ARM.attributes_end = .;
-} > MEMORY
+} > RAM
 
 .sdata : {
    __sdata_start = .;
@@ -178,7 +178,7 @@ SECTIONS
    *(.sdata.*)
    *(.gnu.linkonce.s.*)
    __sdata_end = .;
-} > MEMORY
+} > RAM
 
 .sbss (NOLOAD) : {
    __sbss_start = .;
@@ -186,7 +186,7 @@ SECTIONS
    *(.sbss.*)
    *(.gnu.linkonce.sb.*)
    __sbss_end = .;
-} > MEMORY
+} > RAM
 
 .tdata : {
    __tdata_start = .;
@@ -194,7 +194,7 @@ SECTIONS
    *(.tdata.*)
    *(.gnu.linkonce.td.*)
    __tdata_end = .;
-} > MEMORY
+} > RAM
 
 .tbss : {
    __tbss_start = .;
@@ -202,7 +202,7 @@ SECTIONS
    *(.tbss.*)
    *(.gnu.linkonce.tb.*)
    __tbss_end = .;
-} > MEMORY
+} > RAM
 
 .bss (NOLOAD) : {
    __bss_start = .;
@@ -211,7 +211,7 @@ SECTIONS
    *(.gnu.linkonce.b.*)
    *(COMMON)
    __bss_end = .;
-} > MEMORY
+} > RAM
 
 _SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
 
diff --git a/firmware/v5-hot.ld b/firmware/v5-hot.ld
index 259bab9ba..017cb3564 100644
--- a/firmware/v5-hot.ld
+++ b/firmware/v5-hot.ld
@@ -28,6 +28,6 @@ MEMORY
    HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
 }
 
-REGION_ALIAS("MEMORY", HOT_MEMORY);
+REGION_ALIAS("RAM", HOT_MEMORY);
 
 ENTRY(install_hot_table)
diff --git a/firmware/v5.ld b/firmware/v5.ld
index d6933d9d2..7cbd06f3b 100644
--- a/firmware/v5.ld
+++ b/firmware/v5.ld
@@ -28,6 +28,6 @@ MEMORY
    HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
 }
 
-REGION_ALIAS("MEMORY", COLD_MEMORY);
+REGION_ALIAS("RAM", COLD_MEMORY);
 
 ENTRY(vexStartup)
diff --git a/include/api.h b/include/api.h
index e3fb1ab2d..27a7b643f 100644
--- a/include/api.h
+++ b/include/api.h
@@ -41,8 +41,8 @@
 
 #define PROS_VERSION_MAJOR 3
 #define PROS_VERSION_MINOR 6
-#define PROS_VERSION_PATCH 1
-#define PROS_VERSION_STRING "3.6.1"
+#define PROS_VERSION_PATCH 2
+#define PROS_VERSION_STRING "3.6.2"
 
 #define PROS_ERR (INT32_MAX)
 #define PROS_ERR_F (INFINITY)
diff --git a/src/devices/vdml_imu.c b/src/devices/vdml_imu.c
index 24d041593..3410efd6f 100644
--- a/src/devices/vdml_imu.c
+++ b/src/devices/vdml_imu.c
@@ -87,9 +87,8 @@ double imu_get_heading(uint8_t port) {
 	claim_port_f(port - 1, E_DEVICE_IMU);
 	ERROR_IMU_STILL_CALIBRATING(port, device, PROS_ERR_F);
 	double rtn = vexDeviceImuDegreesGet(device->device_info) + ((imu_data_s_t*)registry_get_device(port - 1)->pad)->heading_offset;
-	if (rtn > IMU_HEADING_MAX) rtn -= IMU_HEADING_MAX;
-	if (rtn < 0) rtn += IMU_HEADING_MAX;
-	return_port(port - 1, rtn);
+	// Restricting value to raw boundaries
+	return_port(port - 1, fmod((rtn + IMU_HEADING_MAX), (double) IMU_HEADING_MAX));
 }
 
 #define QUATERNION_ERR_INIT \
@@ -107,16 +106,9 @@ quaternion_s_t imu_get_quaternion(uint8_t port) {
 	imu_data_s_t* data = (imu_data_s_t*)device->pad;
 	// To calculate the quaternion values, we first get the euler values, add the offsets,
 	// and then do the calculations.
-	double roll = euler.roll + data->roll_offset;
-	double yaw = euler.yaw + data->yaw_offset;
-	double pitch = euler.pitch + data->pitch_offset;
-
-	if (roll > IMU_EULER_LIMIT) roll -= 2 * IMU_EULER_LIMIT;
-	if (roll < -IMU_EULER_LIMIT) roll += 2 * IMU_EULER_LIMIT;
-	if (yaw > IMU_EULER_LIMIT) yaw -= 2 * IMU_EULER_LIMIT;
-	if (yaw < -IMU_EULER_LIMIT) yaw += 2 * IMU_EULER_LIMIT;
-	if (pitch > IMU_EULER_LIMIT) pitch -= 2 * IMU_EULER_LIMIT;
-	if (pitch < -IMU_EULER_LIMIT) pitch += 2 * IMU_EULER_LIMIT; 
+	double roll = fmod(euler.roll + data->roll_offset, 2.0 * IMU_EULER_LIMIT);
+	double yaw = fmod(euler.yaw + data->yaw_offset, 2.0 * IMU_EULER_LIMIT);
+	double pitch = fmod(euler.pitch + data->pitch_offset, 2.0 * IMU_EULER_LIMIT);
 
 	double cy = cos(DEGTORAD * yaw * 0.5);
 	double sy = sin(DEGTORAD * yaw * 0.5);
@@ -148,12 +140,9 @@ euler_s_t imu_get_euler(uint8_t port) {
 	rtn.pitch += data->pitch_offset;
 	rtn.yaw += data->yaw_offset;
 	rtn.roll += data->roll_offset;
-	if (rtn.roll > IMU_EULER_LIMIT) rtn.roll -= 2 * IMU_EULER_LIMIT;
-	if (rtn.roll < -IMU_EULER_LIMIT) rtn.roll += 2 * IMU_EULER_LIMIT;
-	if (rtn.yaw > IMU_EULER_LIMIT) rtn.yaw -= 2 * IMU_EULER_LIMIT;
-	if (rtn.yaw < -IMU_EULER_LIMIT) rtn.yaw += 2 * IMU_EULER_LIMIT;
-	if (rtn.pitch > IMU_EULER_LIMIT) rtn.pitch -= 2 * IMU_EULER_LIMIT;
-	if (rtn.pitch < -IMU_EULER_LIMIT) rtn.pitch += 2 * IMU_EULER_LIMIT;
+	rtn.roll = fmod(rtn.roll, 2.0 * IMU_EULER_LIMIT);
+	rtn.yaw = fmod(rtn.yaw, 2.0 * IMU_EULER_LIMIT);
+	rtn.pitch = fmod(rtn.pitch, 2.0 * IMU_EULER_LIMIT);
 	return_port(port - 1, rtn);
 }
 
@@ -166,9 +155,8 @@ double imu_get_pitch(uint8_t port) {
 	v5_smart_device_s_t* device = registry_get_device(port - 1);
 	vexDeviceImuAttitudeGet(device->device_info, (V5_DeviceImuAttitude*)&euler_values);
 	rtn = euler_values.pitch + ((imu_data_s_t*)registry_get_device(port - 1)->pad)->pitch_offset;
-	if (rtn > IMU_EULER_LIMIT) rtn -= 2 * IMU_EULER_LIMIT;
-	if (rtn < -IMU_EULER_LIMIT) rtn += 2 * IMU_EULER_LIMIT;
-	return_port(port - 1, rtn);
+	// Restricting value to raw boundaries
+	return_port(port - 1, fmod(rtn, 2.0 * IMU_EULER_LIMIT));
 }
 
 double imu_get_roll(uint8_t port) {
@@ -180,9 +168,8 @@ double imu_get_roll(uint8_t port) {
 	v5_smart_device_s_t* device = registry_get_device(port - 1);
 	vexDeviceImuAttitudeGet(device->device_info, (V5_DeviceImuAttitude*)&euler_values);
 	rtn = euler_values.roll + ((imu_data_s_t*)registry_get_device(port - 1)->pad)->roll_offset;
-	if (rtn > IMU_EULER_LIMIT) rtn -= 2 * IMU_EULER_LIMIT;
-	if (rtn < -IMU_EULER_LIMIT) rtn += 2 * IMU_EULER_LIMIT;
-	return_port(port - 1, rtn);
+	// Restricting value to raw boundaries
+	return_port(port - 1, fmod(rtn, 2.0 * IMU_EULER_LIMIT));
 }
 
 double imu_get_yaw(uint8_t port) {
@@ -194,9 +181,8 @@ double imu_get_yaw(uint8_t port) {
 	v5_smart_device_s_t* device = registry_get_device(port - 1);
 	vexDeviceImuAttitudeGet(device->device_info, (V5_DeviceImuAttitude*)&euler_values);
 	rtn = euler_values.yaw + ((imu_data_s_t*)registry_get_device(port - 1)->pad)->yaw_offset;
-	if (rtn > IMU_EULER_LIMIT) rtn -= 2 * IMU_EULER_LIMIT;
-	if (rtn < -IMU_EULER_LIMIT) rtn += 2 * IMU_EULER_LIMIT;
-	return_port(port - 1, rtn);
+	// Restricting value to raw boundaries
+	return_port(port - 1, fmod(rtn, 2.0 * IMU_EULER_LIMIT));
 }
 
 #define RAW_IMU_ERR_INIT {.x = PROS_ERR_F, .y = PROS_ERR_F, .z = PROS_ERR_F};
diff --git a/version b/version
index 9575d51ba..b72762837 100644
--- a/version
+++ b/version
@@ -1 +1 @@
-3.6.1
+3.6.2