diff --git a/docs/commands.md b/docs/commands.md
index dc6b2b84..23e6e266 100644
--- a/docs/commands.md
+++ b/docs/commands.md
@@ -79,3 +79,14 @@ All variables that are part of a `[...].config` object can be saved to non-volat
  * `<odrv>.fw_version_major`, `<odrv>.fw_version_minor`, `<odrv>.fw_version_revision`: The firmware version that is currently running.
  * `<odrv>.hw_version_major`, `<odrv>.hw_version_minor`, `<odrv>.hw_version_revision`: The hardware version of your ODrive.
 
+## 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 
+```
+odrv0.axis0.controller.config.vel_gain = 0.1
+odrv0.axis0.controller.config.vel_integrator_gain = 0
+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>)
+```
+
diff --git a/docs/getting-started.md b/docs/getting-started.md
index 301282ab..6b213970 100644
--- a/docs/getting-started.md
+++ b/docs/getting-started.md
@@ -172,7 +172,10 @@ You can read more about the odrivetool [here](odrivetool.md).
 
     </div></details>
 
-  * `odrv0.axis0.encoder.config.cpr`: Encoder Count Per Revolution (CPR). This is 4x the Pulse Per Revolution (PPR) value. Usually this is indicated in the datasheet of your encoder.
+  * _if using encoder_: `odrv0.axis0.encoder.config.cpr`: Encoder Count Per Revolution (CPR). This is 4x the Pulse Per Revolution (PPR) value. Usually this is indicated in the datasheet of your encoder.
+  * _if not using encoder_:
+    * If you wish to run in sensorless mode, please see [Setting up Sensorless](commands.md#setting-up-sensorless).
+    * If you are using hall sensor feedback, please see the [hoverboard motor example](hoverboard.md).
 
 
 3. Save configuration. You can save all `.config` parameters to persistent memory such that the ODrive remembers them between power cycles.