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...	...	@@ -105,6 +105,30 @@
105	105	#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
106	106
107	107	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	108	+
	109	+=== Virtual Angular Position ===
	110	+
	111	+{In progress}
	112	+
	113	+A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
	114	+
	115	+[[image:LSS-servo-positions.jpg]]
	116	+
	117	+Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
	118	+
	119	+#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
	120	+
	121	+#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
	122	+
	123	+#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
	124	+
	125	+Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
	126	+
	127	+#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
	128	+
	129	+#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
	130	+
	131	+If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
108	108	)))
109	109
110	110	= Command List =
...	...	@@ -147,7 +147,9 @@
147	147	Any other value for the modifier results in staying in smart mode.
148	148	Puts the servo into RC mode. To revert to smart mode, use the button menu.
149	149	)))
150		-| | | | | | | | |
	174	+|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
	175	+|32|**DEFAULT**| | | | |✓|none|Revert to firmware defaults. See command for details
	176	+|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
151	151
152	152	= Details =
153	153
...	...	@@ -534,13 +534,13 @@
534	534
535	535	EX: #5CRC<cr>
536	536
537		-__**RESET**__
	563	+__31. RESET__
538	538
539	539	Ex: #5RESET<cr> or #5RS<cr>
540	540
541	541	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
542	542
543		-**__DEFAULT __**__& **CONFIRM**__
	569	+__32. DEFAULT & CONFIRM__
544	544
545	545	Ex: #5DEFAULT<cr>
546	546
...	...	@@ -552,7 +552,7 @@
552	552
553	553	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
554	554
555		-**__UPDATE __**__& **CONFIRM**__
	581	+__33. UPDATE & CONFIRM__
556	556
557	557	Ex: #5UPDATE<cr>
558	558
...	...	@@ -564,27 +564,4 @@
564	564
565	565	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
566	566
567		-=== Virtual Angular Position ===
568		-
569		-{In progress}
570		-
571		-A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
572		-
573		-[[image:LSS-servo-positions.jpg]]
574		-
575		-Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
576		-
577		-#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
578		-
579		-#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
580		-
581		-#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
582		-
583		-Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
584		-
585		-#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
586		-
587		-#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
588		-
589		-
590		-If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
	593	+=== ===