diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 000000000000..2a922f02bf4f
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,82 @@
+default:
+  image: python:2.7.18-slim-buster
+  tags:
+    - linux
+
+stages:          # List of stages for jobs, and their order of execution
+  - build
+  - deploy
+  
+workflow:
+  rules:
+    - if: $CI_COMMIT_TAG
+      when: never 
+    - if: $CI_PIPELINE_SOURCE == 'merge_request_event'
+    - if: $CI_PIPELINE_SOURCE == "push" && ($CI_COMMIT_BRANCH == "master" || $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH)
+    
+build-job:       # This job runs in the build stage, which runs first.
+  stage: build
+  before_script:
+    - apt-get update
+    - apt-get install -y git curl
+  script:
+    - ./scripts/ci-install.sh
+    - ./ci_build/python-env/bin/pip freeze --all > requirements.txt
+    - pip download -r requirements.txt -d packages --python-version 27 --platform manylinux2014 --no-deps
+    - ./scripts/ci-build-stereotech.sh
+    - ./ci_build/python-env/bin/python ./klippy/chelper/__init__.py
+    - mkdir dist
+    - cp -R ./klippy/. ./dist/klippy
+    - cp -R ./stereotech_config/. ./dist/config
+    - cp -R ./ci_build/firmware/. ./dist/firmware
+    - cp -R ./packages/. ./dist/packages
+    - cp ./requirements.txt ./dist/requirements.txt
+    - tar -cvjf klipper.tar.bz2 -C dist .
+  artifacts:
+    name: klipper
+    paths:
+      - "klipper.tar.bz2"
+    expire_in: 7 days
+
+test-job:
+  stage: build
+  before_script:
+    - apt-get update
+    - apt-get install -y git curl
+  script:
+    - ./scripts/ci-install.sh
+    - ./scripts/ci-build.sh 2>&1
+  artifacts:
+    name: data-dict
+    paths:
+      - "ci_build/dict"
+    expire_in: 7 days
+
+deploy_job:
+  stage: deploy
+  needs:
+    - build-job
+    - test-job
+  variables:
+    RELEASE_TYPE: testing
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+      variables:
+        RELEASE_TYPE: "stable"
+    - if: $CI_PIPELINE_SOURCE == "push"  
+  before_script:
+    - pip install awscli
+  script:
+    - aws s3 --endpoint-url=https://storage.yandexcloud.net cp klipper.tar.bz2 s3://${BUCKET_NAME}/firmware_v5/${RELEASE_TYPE}/ --acl public-read
+    - touch klipper.sha
+    - echo "$CI_COMMIT_SHA" >> ./klipper.sha
+    - aws s3 --endpoint-url=https://storage.yandexcloud.net cp klipper.sha s3://${BUCKET_NAME}/firmware_v5/${RELEASE_TYPE}/ --acl public-read
+
+trigger_job:
+  stage: deploy
+  rules:
+    - if: $CI_COMMIT_BRANCH == "develop" && $CI_PIPELINE_SOURCE == "push"
+  needs:
+    - deploy_job
+  trigger:
+    project: stereotech/steapp/STE-App-Build
diff --git a/.gitlab/.gitkeep b/.gitlab/.gitkeep
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/scripts/ci-install.sh b/scripts/ci-install.sh
index 606dd073551d..a69de7c60bdc 100755
--- a/scripts/ci-install.sh
+++ b/scripts/ci-install.sh
@@ -15,12 +15,11 @@ mkdir -p ${BUILD_DIR} ${CACHE_DIR}
 # Install system dependencies
 ######################################################################
 echo -e "\n\n=============== Install system dependencies\n\n"
-sudo apt-get update
 PKGS="virtualenv python2-dev libffi-dev build-essential"
 PKGS="${PKGS} gcc-avr avr-libc"
 PKGS="${PKGS} libnewlib-arm-none-eabi gcc-arm-none-eabi binutils-arm-none-eabi"
 PKGS="${PKGS} pv libmpfr-dev libgmp-dev libmpc-dev texinfo bison flex"
-sudo apt-get install ${PKGS}
+apt-get install -y ${PKGS}
 
 
 ######################################################################
diff --git a/stereotech_config/calibrate/probe_5d.cfg b/stereotech_config/calibrate/probe_5d.cfg
index 14f368ade293..818b80112861 100644
--- a/stereotech_config/calibrate/probe_5d.cfg
+++ b/stereotech_config/calibrate/probe_5d.cfg
@@ -1,6 +1,7 @@
 [gcode_macro PROBE_TEMPLATE_POINT]
 description: Macro for calibration template probing
 variable_a_probe_z: 0.0
+variable_a_probe_y: 0.0
 variable_a_v_probe_z: 0.0
 gcode:
     {% set point = params.POINT|default('A_Z') %}
@@ -8,9 +9,10 @@ gcode:
     {% set probe_a_horizontal = printer["gcode_macro CONSTANTS"].probe_a_horizontal %}
     {% set probe_a_vertical = printer["gcode_macro CONSTANTS"].probe_a_vertical %}
     {% set whitelist = ['A_Z', 'B_Z', 'C_Y', 'D_Y'] %}
+    {% set a_y = printer['gcode_macro PROBE_TEMPLATE_POINT'].a_probe_y if printer['gcode_macro PROBE_TEMPLATE_POINT'].a_probe_y > 0 else probe_a_horizontal[1] %}
     {% set a_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].a_probe_z if printer['gcode_macro PROBE_TEMPLATE_POINT'].a_probe_z > 0 else probe_a_horizontal[2] + offsets[2] %}
     {% set a_v_z = printer['gcode_macro PROBE_TEMPLATE_POINT'].a_v_probe_z if printer['gcode_macro PROBE_TEMPLATE_POINT'].a_v_probe_z > 0 else probe_a_vertical[2] + offsets[2] %}
-    {% set a = [probe_a_horizontal[0] - offsets[0], probe_a_horizontal[1] - offsets[1], a_z] %}
+    {% set a = [probe_a_horizontal[0] - offsets[0], a_y - offsets[1], a_z] %}
     {% set a_v = [probe_a_vertical[0] - offsets[0], probe_a_vertical[1] - offsets[1], a_v_z] %}
     {% set max_y = printer.toolhead.axis_maximum[1]|float %}
     #{% set whitelist = ['A_Z', 'A_Z_A0', 'A_Z_A90', 'A_X', 'A_Y', 'A_MX', 'A_MY', 'A_Z_A90', 'A_X_A90', 'A_MX_A90'] %}
@@ -74,8 +76,8 @@ gcode:
         {% set axis = 'Y' %}
     {% endif %}
     #{% endif %}
-    {% if target_y|float > (max_y - 4.3) %}
-       {% set target_y = max_y - 5.5 %}
+    {% if target_y|float > (max_y - 6.3) %}
+       {% set target_y = max_y - 6.3 %} # 294
     {% endif %}
     G0 Z{safe_distance_z} F3600
     G0 A0 C0 F3600
diff --git a/stereotech_config/calibrate/probe_5d_template.cfg b/stereotech_config/calibrate/probe_5d_template.cfg
index e6179bfd9e44..a8d42f7ff318 100644
--- a/stereotech_config/calibrate/probe_5d_template.cfg
+++ b/stereotech_config/calibrate/probe_5d_template.cfg
@@ -142,3 +142,16 @@ gcode:
     PROBE_TEMPLATE_POINT POINT=D_Y_A90
     SET_POINT MACRO=SAVE_SKEW_POINT POINT=3
     CHECK_ACCURACY_SET_MODULE_FIVE_D
+
+[gcode_macro GET_APPROXIMATE_Y]
+description: calculate approximate wcs_1_y
+gcode:
+    {% set distance = 55 %} # distance between points C and A
+    {% set x1 = printer.auto_wcs.points[2][0] %}
+    {% set x2 = printer.auto_wcs.points[3][0] %}
+    {% set wcs_1_x = (x1 + x2) / 2.0 %}
+    {% set probe_backlash_x = (x2 - (wcs_1_x + distance))|abs %}
+    {% set point_y = printer.auto_wcs.points[1][1] %}
+    {% set template_width = 10.0 %}
+    {% set wcs_1_y = point_y - probe_backlash_x + (template_width / 2.0) %}
+    SET_GCODE_VARIABLE MACRO=PROBE_TEMPLATE_POINT VARIABLE=a_probe_y VALUE={wcs_1_y}
diff --git a/stereotech_config/calibrate/probe_v2.cfg b/stereotech_config/calibrate/probe_v2.cfg
index 6a9d5ba4fc25..8cb4d2ef1cf1 100644
--- a/stereotech_config/calibrate/probe_v2.cfg
+++ b/stereotech_config/calibrate/probe_v2.cfg
@@ -2,26 +2,34 @@
 description: macro do move for measuring and calculated WCS. Sensor DAC_v_2
 gcode:
     {% if printer["gcode_button five_axis_module"].state == "PRESSED" %}
+        # wcs_1_z
         PROBE_TEMPLATE_POINT POINT=A_Z
         SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=0
-        PROBE_TEMPLATE_POINT POINT=B_MY_A0_C30
-        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=7
-        PROBE_TEMPLATE_POINT POINT=B_Y_A0_C30
-        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=1
+        # wcs_1_x
         PROBE_TEMPLATE_POINT POINT=C_X
         SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=2
         PROBE_TEMPLATE_POINT POINT=D_MX
         SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=3
+        # wcs_1_y
+        PROBE_TEMPLATE_POINT POINT=B_Y_A0_C30
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=1
+        GET_APPROXIMATE_Y   # calculate approximate wcs_1_y
+        PROBE_TEMPLATE_POINT POINT=B_MY_A0_C30
+        SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=7
+        # wcs_2_z
         PROBE_TEMPLATE_POINT POINT=A_Z_A90
         SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=4
+        # wcs_2_y
         PROBE_TEMPLATE_POINT POINT=B_Y_A90_C60
         SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=5
         PROBE_TEMPLATE_POINT POINT=B_MY_A90_C60
         SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=6
+        # wcs_2_x
         PROBE_TEMPLATE_POINT POINT=D_MX_A90
         SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=8
         PROBE_TEMPLATE_POINT POINT=C_X_A90
         SET_POINT MACRO=SAVE_WCS_CALC_POINT POINT=9
+        # calculating wcs
         {% set template_thickness = printer.save_variables.variables.template_thickness|default(10.0)|float %}
         {% set auto_wcs_adj = printer.save_variables.variables.auto_wcs_adj|default(0.0)|float %}
         CALC_WCS_PARAMS THICKNESS={ template_thickness } ADJUSTMENT={ auto_wcs_adj } SENSOR_VERSION=1