diff --git a/MotorDriver.cpp b/MotorDriver.cpp
index 9aadbe6..0c6cef1 100644
--- a/MotorDriver.cpp
+++ b/MotorDriver.cpp
@@ -179,6 +179,8 @@ void MotorDriver::setDCSignal(byte speedcode) {
   if (tSpeed <= 1) brake = 255;
   else if (tSpeed >= 127) brake = 0;
   else  brake = 2 * (128-tSpeed);
+  if (invertBrake)
+    brake=255-brake;
   analogWrite(brakePin,brake);
   // as the port registers can be shadowed to get syncronized DCC signals
   // we need to take care of that and we have to turn off interrupts during
diff --git a/MotorDrivers.h b/MotorDrivers.h
index b2b798d..d2dc027 100644
--- a/MotorDrivers.h
+++ b/MotorDrivers.h
@@ -65,6 +65,13 @@
 //                          new MotorDriver(2, 8, UNUSED_PIN, -10, A1, 18, 3000, 12)
 // See Pololu dial_mc33926_shield_schematic.pdf and truth table on page 17 of the MC33926 data sheet.
 
+// Pololu Dual TB9051FTG Motor Shield
+// This is the shield without modifications which means
+// no HA waveform and no RailCom on an Arduino Mega 2560
+#define POLOLU_TB9051FTG F("POLOLU_TB9051FTG"),                            \
+   new MotorDriver(2, 7, UNUSED_PIN,  -9, A0, 10, 2500,  6), \
+   new MotorDriver(4, 8, UNUSED_PIN, -10, A1, 10, 2500, 12)
+
 // Firebox Mk1
 #define FIREBOX_MK1 F("FIREBOX_MK1"),                                                  \
                     new MotorDriver(3, 6, 7, UNUSED_PIN, A5, 9.766, 5500, UNUSED_PIN), \
diff --git a/WiThrottle.cpp b/WiThrottle.cpp
index 5a835ce..66463de 100644
--- a/WiThrottle.cpp
+++ b/WiThrottle.cpp
@@ -211,9 +211,7 @@ void WiThrottle::parse(RingStream * stream, byte * cmdx) {
       }
       break;
     case 'N':  // Heartbeat (2), only send if connection completed by 'HU' message
-      if (initSent) { 
-	StringFormatter::send(stream, F("*%d\n"),HEARTBEAT_SECONDS); // return timeout value
-      }
+      StringFormatter::send(stream, F("*%d\n"), initSent ? HEARTBEAT_SECONDS : 1); // return timeout value
       break;
     case 'M': // multithrottle
       multithrottle(stream, cmd); 
diff --git a/config.example.h b/config.example.h
index 3dac207..d6d60dc 100644
--- a/config.example.h
+++ b/config.example.h
@@ -37,6 +37,7 @@ The configuration file for DCC-EX Command Station
 //
 //  STANDARD_MOTOR_SHIELD : Arduino Motor shield Rev3 based on the L298 with 18V 2A per channel
 //  POLOLU_MOTOR_SHIELD   : Pololu MC33926 Motor Driver (not recommended for prog track)
+//  POLOLU_TB9051FTG      : Pololu Dual TB9051FTG Motor Driver
 //  FUNDUMOTO_SHIELD      : Fundumoto Shield, no current sensing (not recommended, no short protection)
 //  FIREBOX_MK1           : The Firebox MK1                    
 //  FIREBOX_MK1S          : The Firebox MK1S