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...	...	@@ -283,8 +283,15 @@
283	283
284	284	Ex: #5QSD<cr> might return *5QSD1800<cr>
285	285
286		-Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SD or CSD is not possible.
	286	+By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
	287	+If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
287	287
	289	+|**Command sent**|**Returned value (1/10 °)**
	290	+|ex: #5QSD<cr>|Current session value for maximum speed (set by latest SD/SR command)
	291	+|ex: #5QSD1<cr>|Current maximum speed configured (set by CSD/CSR)
	292	+|ex: #5QSD2<cr>|Current speed.
	293	+|ex: #5QSD3<cr>|Target travel speed.
	294	+
288	288	Configure Speed in Degrees (**CSD**)
289	289
290	290	Ex: #5CSD1800<cr>
...	...	@@ -301,13 +301,20 @@
301	301
302	302	Ex: #5QSR<cr> might return *5QSR45<cr>
303	303
304		-Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SR or CSR is not possible.
	311	+By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
	312	+If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
305	305
306		-Configure Speed in Degrees (**CSR**)
	314	+|**Command sent**|**Returned value (1/10 °)**
	315	+|ex: #5QSR<cr>|Current session value for maximum speed (set by latest SD/SR command)
	316	+|ex: #5QSR1<cr>|Current maximum speed configured (set by CSD/CSR)
	317	+|ex: #5QSR2<cr>|Current speed.
	318	+|ex: #5QSR3<cr>|Target travel speed.
307	307
	320	+Configure Speed in RPM (**CSR**)
	321	+
308	308	Ex: #5CSR45<cr>
309	309
310		-Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
	324	+Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
311	311
312	312	__14. Rigidity (R)__
313	313
...	...	@@ -378,7 +378,7 @@
378	378	__18. Baud Rate__
379	379
380	380	A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps*, 921.6 kbps*. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
381		-*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
	395	+\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
382	382
383	383	Query Baud Rate (**QB**)
384	384