diff --git a/content/SUMMARY.md b/content/SUMMARY.md
index 717d5ed..0ebc5c8 100644
--- a/content/SUMMARY.md
+++ b/content/SUMMARY.md
@@ -33,5 +33,6 @@
     - [GRBL_ESP32 tips](maker-things/grbl-esp32-tips.md)
     - [How to properly level your 3D printer](maker-things/how-to-properly-level-your-3d-printer.md)
 - [Software](software/index.md)
+    - [Black pills](software/black-pills.md)
     - [Monero GUI syncing stuck with Ledger](software/monero-gui-syncing-stuck-with-ledger.md)
     - [Test and format SD cards](software/test-and-format-sd-cards.md)
\ No newline at end of file
diff --git a/content/ardupilot/ardupilot-setup-checklist.md b/content/ardupilot/ardupilot-setup-checklist.md
index d43f8a4..145e3ac 100644
--- a/content/ardupilot/ardupilot-setup-checklist.md
+++ b/content/ardupilot/ardupilot-setup-checklist.md
@@ -79,6 +79,7 @@ The values in this section are specific to the Omnibus F4, but the settings aren
 - [ ] Set `SERVO_AUTO_TRIM=1` so the aircraft trims itself while flying.
 - [ ] Set `FS_SHORT_ACTN`/`FS_SHORT_TIMEOUT`/`FS_LONG_ACTN`/`FS_LONG_TIMEOUT`. I tend to disable the short action and set long to RTL.
 - [ ] Set `FLIGHT_OPTIONS+=16` so the aircraft climbs first before starting to return to home.
+- [ ] Set `FLIGHT_OPTIONS+=64` so the aircraft doesn't oscillate on auto takeoff without an airspeed sensor.
 - [ ] Set `ACRO_LOCKING=1` to avoid drifting when you aren't moving the sticks.
 - [ ] Change `AUTOTUNE_LEVEL` according to how aggressive you want the tune.
 - [ ] Set `ACRO_PITCH_RATE`/`ACRO_ROLL_RATE` according to your craft.
@@ -109,6 +110,6 @@ _(Many thanks to Michel Pastor for his help with everything in this note.)_
 * * *
 
 <p style="font-size:80%; font-style: italic">
-Last updated on November 19, 2021. For any questions/feedback,
+Last updated on December 23, 2021. For any questions/feedback,
 email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
 </p>
diff --git a/content/software/black-pills.md b/content/software/black-pills.md
new file mode 100644
index 0000000..a3e1d5d
--- /dev/null
+++ b/content/software/black-pills.md
@@ -0,0 +1,32 @@
+# Black pills
+
+I've been trying to flash these Black Pills I have (STM32F401), the official STM32 flasher worked great, [STM32CubeProgrammer](https://www.st.com/en/development-tools/stm32cubeprog.html).
+
+Run with:
+
+`./STM32_Programmer.sh -c port=USB1 -d firmware.bin 0x08000000`
+
+ `dfu-util` also worked, eventually, after an unspecified amount of messing around with udev rules (if it doesn't work for you out of the box, try the rs-probe udev rules).
+ 
+ 
+## Useful links
+
+* https://therealprof.github.io/blog/usb-c-pill-part1/
+* https://blog.tonari.no/rust-simple-hardware-project
+* https://github.com/stm32-rs/stm32f4xx-hal
+
+
+## This finally worked
+
+Clone the repo: https://github.com/stm32-rs/stm32f4xx-hal/ and `cd examples`.
+
+`cargo objcopy --release --example delay-timer-blinky --features="stm32f401,rt" -- -O binary out.bin`
+
+`dfu-util -a 0 --dfuse-address 0x08000000 -D out.bin`
+
+* * *
+
+<p style="font-size:80%; font-style: italic">
+Last updated on December 30, 2021. For any questions/feedback,
+email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
+</p>
diff --git a/content/software/index.md b/content/software/index.md
index 3048a93..97e2208 100644
--- a/content/software/index.md
+++ b/content/software/index.md
@@ -2,5 +2,6 @@
 
 Click on a link in the list below to go to that page:
 
+1. [Black pills](../../software/black-pills.html)
 1. [Monero GUI syncing stuck with Ledger](../../software/monero-gui-syncing-stuck-with-ledger.html)
 1. [Test and format SD cards](../../software/test-and-format-sd-cards.html)