diff --git a/docs/images/esc_configurator_connect.png b/docs/images/esc_configurator_connect.png
new file mode 100644
index 0000000000..70fd4fbbbc
Binary files /dev/null and b/docs/images/esc_configurator_connect.png differ
diff --git a/docs/images/esc_default_config.png b/docs/images/esc_default_config.png
new file mode 100644
index 0000000000..fd0750fa1f
Binary files /dev/null and b/docs/images/esc_default_config.png differ
diff --git a/docs/images/esc_motor_control.png b/docs/images/esc_motor_control.png
new file mode 100644
index 0000000000..ceb5fe4fe5
Binary files /dev/null and b/docs/images/esc_motor_control.png differ
diff --git a/docs/userguides/advanced-configuration/esc_configuration.md b/docs/userguides/advanced-configuration/esc_configuration.md
new file mode 100644
index 0000000000..42c19277d1
--- /dev/null
+++ b/docs/userguides/advanced-configuration/esc_configuration.md
@@ -0,0 +1,52 @@
+# Configure the ESCs of the Crazyflie 2.1 Brushless
+
+***NOTE: You must use a Chrome browser (Chromium or similar does not work)***
+
+Open the wep page [esc-configurator](https://[esc-configurator.com) in a Chrome browser.
+
+Connect the Crazyflie 2.1 Brushless using the provided USB cable.
+Select a serial port in the GUI.
+If you are working on a Linux OS you might need to add USB permissions like this:
+[USB permissions](https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/installation/usb_permissions/)
+
+The serial port should be named something along the lines of "CrazyflieXX"
+
+Connect to the pass through interface via USB by pressing the Connect button.
+![connect](/docs/images/esc_configurator_connect.png)
+
+## Motor control
+The first page is a motor control page where you can check that the motors are spinning as expected.
+Enable control by checking the "Enable motor control" checkbox.
+
+This control overrides the software arming.
+
+You can either spin the motors separately or all motors at the same time with the "Master speed" slider.
+![motor control](/docs/images/esc_motor_control.png)
+
+***NOTE: Be careful to not ramp the speed up so high that the drone takes off or flips.***
+
+
+## Write settings to the ESCs
+Click the "Read Settings" button. The settings read from the ESCs will now be displayed.
+
+Be aware that setting other settings than the recommended is done at you own risk, make sure you know what you are doing before attempting to change these.
+
+The default setting configuration we have written to the ESCs at production are;
+![default config](/docs/images/esc_default_config.png) for our default settings.
+
+To write the setting to the ESCs press the "Write settings" button. This will write **all** the settings shown in the GUI to the ESCs.
+
+***NOTE if you push "reset to default" these settigns are not our default settings, but the ones specified by the esc-configurator website.***
+
+
+## Flash the ESCs
+To flash the ESCs press the "Flash Firmware to this ESC".
+
+You can choose to flash either a standard off-the-shelf FW like Bluejay or BLHEli_S or a custom FW.
+
+We have our own fork of Bluejay which you can find here;
+https://github.com/bitcraze/bluejay
+
+
+***NOTE: If you use a FW that has a PWM Frequency setting please note that running on 24kHz causes unstable flight behaviour***
+