diff --git a/docs/build.md b/docs/build.md
index 92fc3f0..9c7b7ba 100644
--- a/docs/build.md
+++ b/docs/build.md
@@ -161,7 +161,7 @@ Before flight using remote control, you need to calibrate it:
 2. Type `cr` command there.
 3. Copy calibration results to the source code (`flix/rc.ino`).
 
-Then you can use your remote control to fly the drone!
+Then you can use your remote control to fly the drone! If something goes wrong, go to the [Troubleshooting](troubleshooting) article.
 
 ### Firmware code structure
 
diff --git a/docs/troubleshooting.md b/docs/troubleshooting.md
new file mode 100644
index 0000000..f335b8c
--- /dev/null
+++ b/docs/troubleshooting.md
@@ -0,0 +1,31 @@
+# Troubleshooting
+
+## The sketch doesn't compile
+
+Do the following:
+
+* **Check ESP32 core is installed**. Check if the version matches the one used in the tutorial.
+* **Check libraries**. Install all the required libraries from the tutorial. Make sure there are no MPU9250 or other peripherals libraries that may conflict with the ones used in the tutorial.
+
+## The drone doesn't fly
+
+Do the following:
+
+* **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V.
+* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output.
+* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands.
+* **Check the motors**. Perform the following commands using Serial Monitor:
+  * `mfr` — should rotate front right motor (counter-clockwise).
+  * `mfl` — should rotate front left motor (clockwise).
+  * `mrl` — should rotate rear left motor (counter-clockwise).
+  * `mrr` — should rotate rear right motor (clockwise).
+* **Calibrate the RC** if you use it. Perform `rc` command and put the results to `rc.ino` file.
+* **Check the RC data** if you use it. Use `rc` command, `Control` should show correct values between -1 and 1, and between 0 and 1 for the throttle.
+* **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
+* **Make sure you're not moving the drone several seconds after the power on**. The drone calibrates its gyroscope on the start so it should stay still for a while.
+* **Check the IMU frequency**. Perform `imu` command. The `frequency` field should be about 1000 (Hz).
+* **Check the IMU data**. Perform `imu` command, check raw accelerometer and gyro output. The output should change as you move the drone.
+* **Calibrate the accelerometer.** if is wasn't done before. Perform `ca` command and put the results to `imu.ino` file.
+* **Check the attitude estimation**. Connect to the drone using QGroundControl. Rotate the drone in different orientations and check if the attitude estimation shown in QGroundControl is correct.
+* **Check the IMU output using QGroundControl**. Connect to the drone using QGroundControl on your computer. Go to the *Analyze* tab, *MAVLINK Inspector*. Plot the data from the `SCALED_IMU` message. The gyroscope and accelerometer data should change according to the drone movement.
+* **Check the gyroscope only attitude estimation**. Comment out `applyAcc();` line in `estimate.ino` and check if the attitude estimation in QGroundControl. It should be stable, but only drift very slowly.