diff --git a/Firmware/README.md b/Firmware/README.md
index a72a6eb6..8d663017 100644
--- a/Firmware/README.md
+++ b/Firmware/README.md
@@ -70,6 +70,15 @@ You must set:
 * `ENCODER_CPR`: Encoder Count Per Revolution (CPR). This is 4x the Pulse Per Revolution (PPR) value.
 * `POLE_PAIRS`: This is the number of magnet poles in the rotor, divided by two. You can simply count the number of magnets in the rotor, if you can see them.
 * `brake_resistance`: This is the resistance of the brake resistor. If you are not using it, you may set it to 0.0f.
+* `motor_type`: This is the type of motor being used. Currently two types of motors are supported -- High-current motors (` MOTOR_TYPE_HIGH_CURRENT`) and Gimbal motors (MOTOR_TYPE_GIMBAL).
+
+### Motor Mode
+The firwmare currently supports two different types of motors, high-current motors, and Gimbal motors.
+
+If 100's of mA of current noise is "small" for you, you can choose `MOTOR_TYPE_HIGH_CURRENT`.
+If 100's of mA of current noise is "large" for you, and you do not intend to spin the motor very fast (omega * L << R), and the motor is fairly large resistance (1 ohm or larger), you can chose `MOTOR_TYPE_GIMBAL`.
+
+If 100's of mA current noise is "large" for you, and you intend to spin the motor fast, then you need to replace the shunt resistors on the ODrive.
 
 ### Tuning parameters
 The most important parameters are the limits: