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...	...	@@ -143,6 +143,7 @@
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.
146	146	| |[[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
147	147	| |[[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
148	148
...	...	@@ -555,6 +555,25 @@
555	555	)))
556	556
557	557	|(% 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" %)(((
558	558	====== __Maximum Speed in Degrees__ ======
559	559	)))
560	560	|(% style="width:30px" %) |(((
...	...	@@ -769,8 +769,7 @@
769	769	(% class="wikigeneratedid" %)
770	770	Query IMU Linear (**QIX QIY QIZ**)
771	771
772		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
773		-Ex: #6QIX<cr> might return *6QIX30<cr>
	792	+====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
774	774
775	775	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
776	776	)))
...	...	@@ -781,8 +781,6 @@
781	781	|(% style="width:30px" %) |(((
782	782	(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
783	783	Query IMU Angular (**QIA QIB QIG**)
784		-
785		-(% class="wikigeneratedid" %)
786	786	Ex: #6QIB<cr> might return *6QIB44<cr>
787	787
788	788	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.