The PDP/PCM/TalonSRX firmware is in C:\Users\Public\Documents\FRC.
That's doc'd in...
http://wpilib.screenstepslive.com/s/...ribution-panel
...jump to the "Select New Firmware" part.
PDP firmware 1.37 is what's intended to be used for now. We will have a public update later but for now that's what teams should be using. 1.37 will take care of your channels not zero-ing on boot.