diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 7c7fa8b4..6983fa6c 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -10,7 +10,7 @@ class Endstop {
         uint16_t gpio_num = 0;
         bool enabled = false;
         bool is_active_high = false;
-        bool pullup = false;
+        bool pullup = true;
     };
 
     explicit Endstop(Endstop::Config_t& config);
diff --git a/docs/endstops.md b/docs/endstops.md
index 87455825..fb165965 100644
--- a/docs/endstops.md
+++ b/docs/endstops.md
@@ -12,10 +12,11 @@ Each axis supports two endstops: `min_endstop` and `max_endstop`.  For each ends
 Name |  Type | Default
 --- | -- | -- 
 gpio_num | int | 0
-enabled | boolean | False
-offset | int | 0
-debounce_ms | float | 100.0
-is_active_high | boolean | False
+offset | float | 0.0
+debounce_ms | float | 50.0
+enabled | boolean | false
+is_active_high | boolean | false
+pullup | boolean | true
 
 ### gpio_num
 The GPIO pin number, according to the silkscreen labels on ODrive. Set with these commands:
@@ -53,6 +54,9 @@ This is how you configure the endstop to be either "NPN" or "PNP".  An "NPN" con
 
 3D printer endstops (like those that come with a RAMPS 1.4) are typically configuration **4**.
 
+### pullup
+Match the pullup value to the configuration.  If `true`, it enables the GPIO pullup resistor.  If `false`, it enables the GPIO pull*down* resistor.
+
 ![Endstop configuration](Endstop_configuration.png)