message: fill out sensorless guide a bit more
diff: @@ -100,10 +100,15 @@ All variables that are part of a `[...].config` object can be saved to non-volat
  ## Setting up sensorless
  The ODrive can run without encoder/hall feedback, but there is a minimum speed, usually around a few hunderd RPM.
  -However the
  +However the units of this mode is different from when using an encoder. Velocities are not measured in counts/s, instead it is electrical rad/s. This also applies to the gains. For example, `vel_gain` is in units of `A / (rad/s)` instead of `A / (count/s)`.
  +
  +To give an example, suppose you have a motor with 7 pole pairs, and you want to spin it at 3000 RPM. Then you would set the `vel_setpoint` to `3000 * 2*pi/60 * 7 = 2199 rad/s electrical`.
  +
  +Below are some suggested starting parameters that you can use. Note that you _must_ set the `pm_flux_linkage` correctly for sensorless mode to work.
  +
  ```
  -odrv0.axis0.controller.config.vel_gain = 0.1
  -odrv0.axis0.controller.config.vel_integrator_gain = 0
  +odrv0.axis0.controller.config.vel_gain = 0.01
  +odrv0.axis0.controller.config.vel_integrator_gain = 0.05
  odrv0.axis0.controller.config.control_mode = 2
  odrv0.axis0.controller.vel_setpoint = 400
  odrv0.axis0.sensorless_estimator.config.pm_flux_linkage = 5.51328895422 / (<pole pairs> * <motor kv>)
  