diff --git a/docs/en/failsafe.md b/docs/en/failsafe.md
index d77217e4..463e93f2 100644
--- a/docs/en/failsafe.md
+++ b/docs/en/failsafe.md
@@ -4,10 +4,10 @@ Main article is available at https://docs.px4.io/master/en/config/safety.html.
 
 The *Safety* panel allows you to configure actions that should be performed when a failsafe is triggered. You should at the very least configure the RC Loss failsafe, which is triggered when the RC transmitter link is lost:
 
-1. Open the *Safety* panel.
+1. In QGroundControl software, go to the *Vehicle Setup* panel and choose the *Safety* menu.
 2. Select one of the following actions in the *RC Loss Failsafe Trigger* option:
     * *Land mode* – transition to automatic land mode;
     * *Terminate* – set all outputs to their failsafe values.
-3. Set the timeout value before RC Loss triggers in the *RC Loss Timeout* field. We recommend setting it to 0.5 s.
+3. Set the timeout value before RC Loss triggers in the *RC Loss Timeout* field. We recommend setting it to 2 s.
 
 <img src="../assets/qgc-failsafe.png" alt="QGroundControl failsafe" class="zoom">
diff --git a/docs/en/modes.md b/docs/en/modes.md
index 9c2ecaaa..4f15c623 100644
--- a/docs/en/modes.md
+++ b/docs/en/modes.md
@@ -4,10 +4,11 @@ PX4 **mode** determines how the vehicle should react to commands and RC signals.
 
 In order to configure flight modes:
 
-1. Open the *Vehicle Setup* tab in QGroundControl.
+1. Open the *Vehicle Setup* panel in QGroundControl.
 2. Select the *Flight Modes* menu.
-3. Choose SwC (Channel 6) as mode selection switch.
-4. Set desired flight modes.
+3. Set the *Mode Channel* to the SwC switch (*Channel 6*).
+4. Optionally, set the *Emergency Kill Switch Channel* to SwA switch (*Channel 5*).
+5. Set desired flight modes.
 
     The following flight modes are recommended:
 
@@ -15,8 +16,8 @@ In order to configure flight modes:
     * Flight Mode 4: *Altitude*.
     * Flight Mode 6: *Position*.
 
-5. Check mode switching by changing the switch position.
-6. Choose SwA (Channel 5) as emergency motor stop (*Kill switch*).
+6. Check mode switching by changing the switch position.
+7. Choose SwA (Channel 5) as emergency motor stop (*Kill switch*).
 
 <img src="../assets/qgc-modes.png" class="zoom" alt="QGroundControl modes">
 
diff --git a/docs/en/optical_flow.md b/docs/en/optical_flow.md
index 1b577012..270d8ffe 100644
--- a/docs/en/optical_flow.md
+++ b/docs/en/optical_flow.md
@@ -1,12 +1,10 @@
 # Use of Optical Flow
 
-Running the technology "Optical Flow" offers the possibility of POSCTL flight mode, and autonomous flight operating on a camera pointed downwards that detects changes of ground texture.
+Running the "Optical Flow" function offers the possibility of POSCTL flight mode, and autonomous flight operating on a camera pointed downwards that detects changes of ground texture.
 
 ## Enabling
 
-> **Hint** It is recommended to use [special PX4 firmware for Clover](firmware.md).
-
-The use of a rangefinder is essential. [Connect and setup laser-ranging sensor VL53L1X](laser.md), according to the manual.
+> **Hint** For Optical Flow to work it's required that the laser rangefinder is [connected and configured](laser.md).
 
 Enable Optical Flow in the file `~/catkin_ws/src/clover/clover/launch/clover.launch`:
 
@@ -14,7 +12,7 @@ Enable Optical Flow in the file `~/catkin_ws/src/clover/clover/launch/clover.lau
 <arg name="optical_flow" default="true"/>
 ```
 
-Optical Flow publishes data in `mavros/px4flow/raw/send` topic. In the topic `optical_flow/debug` is also published a visualization, that can be viewed with [web_video_server](web_video_server.md).
+Optical Flow publishes data in `/mavros/px4flow/raw/send` topic. In the topic `/optical_flow/debug` is also published a visualization, that can be viewed with [web_video_server](web_video_server.md).
 
 > **Info** Correct connection and [setup](camera.md) of the camera module is needed for proper functioning.
 
diff --git a/docs/en/power.md b/docs/en/power.md
index d166dd08..b087aa74 100644
--- a/docs/en/power.md
+++ b/docs/en/power.md
@@ -6,15 +6,16 @@ Open the *Vehicle Setup* tab and select the *Power* menu.
 
 > **Note** Power sensor calibration should be done with the battery pack connected to the drone.
 
-If there is no voltage indicator or manual calibration is not possible, set the average value of the voltage divider for the Clover 4 kit (*Voltage divider* = 11).
-
-1. Set the *Number of cells* parameter according to the number of cells in your battery (*3* for the Clover 4 drone).
-2. Calculate the voltage divider:
+1. In QGroundControl software, go the *Vehicle Setup* panel and choose the *Power* menu.
+2. Set the *Number of cells* parameter according to the number of cells in your battery (*3* for the Clover 4 drone).
+3. Calculate the voltage divider:
     * Measure voltage across the battery (you may use a battery voltage tester for that).
     * Press the *Calculate* button next to the *Voltage divider* label.
     * Put the battery voltage into the prompt and click *Calculate*.
     * Press *Close* to save the calculated value.
 
+If there is no voltage indicator or manual calibration is not possible, set the average value of the voltage divider for the Clover 4 kit (*Voltage divider* = 11).
+
 <img src="../assets/qgc-voltage-divider.png" class="zoom">
 
 Further reading: https://docs.qgroundcontrol.com/en/SetupView/Power.html.
diff --git a/docs/en/radio.md b/docs/en/radio.md
index 6d5dea39..09caa7e7 100644
--- a/docs/en/radio.md
+++ b/docs/en/radio.md
@@ -9,7 +9,7 @@ Before connecting and calibrating the RC, make sure that:
 
 ## Connecting the RC transmitter
 
-1. Open the *Vehicle Setup* tab and select the *Radio* menu.
+1. In QGroundControl software, go the *Vehicle Setup* panel and choose the *Radio* menu.
 2. Power on the transmitter by sliding the **POWER** slider up.
 3. Make sure the transmitter-receiver link is working.