diff --git a/docs/programming/index.md b/docs/programming/index.md
index 3d286f9e..a9e7a463 100644
--- a/docs/programming/index.md
+++ b/docs/programming/index.md
@@ -43,7 +43,7 @@ A log file is saved to your USB so you can see what your robot did,
 what it didn't do, and any errors it raised. The file is saved to log.txt in the top-level directory of the USB drive.
 
 !!! warning
-    The previous log file is deleted at the start of each run, so copy it elsewhere if you need to keep hold of it!
+    The latest log is always called log.txt, if the code is rerun the previous log will be renamed with an increasing number suffix
 
 ## Running Code before pressing the start button
 
diff --git a/docs/programming/vision/index.md b/docs/programming/vision/index.md
index dc128e04..35cae03c 100644
--- a/docs/programming/vision/index.md
+++ b/docs/programming/vision/index.md
@@ -21,7 +21,8 @@ markers = robot.camera.see()
 ```
 
 !!! tip
-    Your camera will be able to process images better if they are not blurred.
+    Taking images while moving will cause them to be blurry, which will cause marker detection to fail.
+    Try pausing movment while taking an image.
 
 ## Saving camera output
 
diff --git a/docs/programming/vision/orientation.md b/docs/programming/vision/orientation.md
index 76c9d60d..34152f2e 100644
--- a/docs/programming/vision/orientation.md
+++ b/docs/programming/vision/orientation.md
@@ -30,7 +30,7 @@ The following table visually explains what positive and negative rotations repre
 |---:|:---:|:---:|
 | **`yaw`** | ![m0x45y0z] | ![m0x-45y0z] |
 | **`pitch`** | ![m-45x0y0z] | ![m45x0y0z] |
-| **`roll`** | ![m0x0y45z] | ![m0x0y-45z] |
+| **`roll`** | ![m0x0y-45z] | ![m0x0y45z] |
 
 [m0x0y0z]: ../../assets/img/api/vision/m0x0y0z.png
 [m-45x0y0z]: ../../assets/img/api/vision/m-45x0y0z.png