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...	...	@@ -143,7 +143,6 @@
143	143	| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
144	144	| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
145	145	| |[[**G**yre Direction>>||anchor="HGyreDirection"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
146		-| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change.
147	147	| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
148	148	| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
149	149
...	...	@@ -556,25 +556,6 @@
556	556	)))
557	557
558	558	|(% colspan="2" %)(((
559		-====== __First Position__ ======
560		-)))
561		-|(% style="width:30px" %) |(((
562		-In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned.
563		-
564		-Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.
565		-
566		-Query First Position in Degrees (**QFD**)
567		-
568		-Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.
569		-
570		-Configure First Position in Degrees (**CFD**)
571		-
572		-Ex: #5CFD900<cr>
573		-
574		-This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
575		-)))
576		-
577		-|(% colspan="2" %)(((
578	578	====== __Maximum Speed in Degrees__ ======
579	579	)))
580	580	|(% style="width:30px" %) |(((
...	...	@@ -789,7 +789,8 @@
789	789	(% class="wikigeneratedid" %)
790	790	Query IMU Linear (**QIX QIY QIZ**)
791	791
792		-====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
	772	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	773	+Ex: #6QIX<cr> might return *6QIX30<cr>
793	793
794	794	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
795	795	)))
...	...	@@ -800,6 +800,8 @@
800	800	|(% style="width:30px" %) |(((
801	801	(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
802	802	Query IMU Angular (**QIA QIB QIG**)
	784	+
	785	+(% class="wikigeneratedid" %)
803	803	Ex: #6QIB<cr> might return *6QIB44<cr>
804	804
805	805	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.