diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index ca2bcaaf..c1ea611b 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -1486,6 +1486,8 @@ valuetypes:
 
           ### Valid Control modes
           * `CONTROL_MODE_POSITION_CONTROL`
+          * `CONTROL_MODE_VELOCITY_CONTROL`
+          * `CONTROL_MODE_TORQUE_CONTROL`
       Tuning:
         brief: Implements a tuning mode
         doc: |
diff --git a/docs/Gemfile.lock b/docs/Gemfile.lock
index ca2e5eb3..1eed173c 100644
--- a/docs/Gemfile.lock
+++ b/docs/Gemfile.lock
@@ -7,7 +7,7 @@ GEM
       minitest (~> 5.1)
       tzinfo (~> 1.1)
       zeitwerk (~> 2.2, >= 2.2.2)
-    addressable (2.7.0)
+    addressable (2.8.0)
       public_suffix (>= 2.0.2, < 5.0)
     coffee-script (2.4.1)
       coffee-script-source
@@ -228,6 +228,8 @@ GEM
     nokogiri (1.11.6)
       mini_portile2 (~> 2.5.0)
       racc (~> 1.4)
+    nokogiri (1.11.6-x86_64-linux)
+      racc (~> 1.4)
     octokit (4.21.0)
       faraday (>= 0.9)
       sawyer (~> 0.8.0, >= 0.5.3)
@@ -271,6 +273,7 @@ GEM
 
 PLATFORMS
   aarch64-linux
+  x86_64-linux
 
 DEPENDENCIES
   github-pages
diff --git a/docs/developer-guide.md b/docs/developer-guide.md
index e3060236..34d3a3b3 100644
--- a/docs/developer-guide.md
+++ b/docs/developer-guide.md
@@ -103,7 +103,7 @@ Some instructions in this document may assume that you're using a bash command p
 * [Python 3](https://www.python.org/downloads/)
   * Install Python packages: `pip install PyYAML Jinja2 jsonschema`
 * [OpenOCD](https://github.com/xpack-dev-tools/openocd-xpack/releases/). 
-* [ST-Link/V2 Drivers](http://www.st.com/web/en/catalog/tools/FM147/SC1887/PF260219)
+* [ST-Link/V2 Drivers](https://www.st.com/content/st_com/en/products/development-tools/software-development-tools/stm32-software-development-tools/stm32-utilities/stsw-link009.html)
 
 <br>