diff --git a/docs/development/PID Internals.md b/docs/development/PID Internals.md
index 19f3e70969..a4ed3fce28 100644
--- a/docs/development/PID Internals.md	
+++ b/docs/development/PID Internals.md	
@@ -1,39 +1,46 @@
 ### IO variables
 
-gyroData/8192*2000 = deg/s
-gyroData/4 ~ deg/s
+`gyroData/8192*2000 = deg/s`
 
-rcCommand - -500-500 nominal, but is scaled with rcRate/100, max +-1250
+`gyroData/4 ~ deg/s`
 
-inclination - in 0.1 degree, default 50 degrees (500 units)
+`rcCommand` - `<-500 - 500>` nominal, but is scaled with `rcRate/100`, max +-1250
 
-axisPID - output to mixer, will be added to throttle(1000-2000), output range is <minthrottle, maxthrottle> (default <1150 - 1850>)
+`inclination` - in 0.1 degree, default 50 degrees (500)
+
+`axisPID` - output to mixer, will be added to throttle(`<1000-2000>`), output range is `<minthrottle, maxthrottle>` (default `<1150 - 1850>`)
 
 ### PID controller 0, "MultiWii" (default)
 
 
-
-## Leveling term
-
+#### Leveling term
+```
 error = constrain(2*rcCommand[axis], limit +- max_angle_inclination) - inclination[axis]
-P = constrain(P8[PIDLEVEL]/100 * error, limit +- D8[PIDLEVEL] * 5)
+P = constrain(P8[PIDLEVEL]/100 * error, limit +- 5 * D8[PIDLEVEL])
 I = intergrate(error, limit +-10000) * I8[PIDLEVEL] / 4096
-
-## Gyro term
-
+```
+#### Gyro term
+```
 P = rcCommand[axis];
 error = rcCommand[axis] * 10 * 8 / pidProfile->P8[axis] - gyroData[axis] / 4; (conversion so that error is in deg/s ?)
 I = integrate(error, limit +-16000) / 10 / 8  * I8[axis] / 100 (conversion back to mixer units ?)
+```
+
 reset I term if
-      - axis rotation rate > +-64deg/s
-      - axis is YAW and rcCommand>+-100
+  - axis rotation rate > +-64deg/s
+  - axis is YAW and rcCommand>+-100
 
-## Mode dependent mix(yaw is always from gyro)
+##### Mode dependent mix(yaw is always from gyro)
 
-HORIZON - proportionally according to max deflection
-Gyro - gyro term
-Angle - leveling term
+- HORIZON - proportionally according to max deflection
 
-## Gyro stabilization
+- gyro - gyro term
+
+- ANGLE - leveling term
+
+#### Gyro stabilization
+
+```
 P = -gyroData[axis] / 4 * dynP8 / 10 / 8
-D = -mean(diff(gyroData[axis] / 4), 3) * 3 * dynP8 / 32
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+D = -mean(diff(gyroData[axis] / 4), over 3 samples) * 3 * dynP8 / 32
+```
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