diff --git a/ArduSub/README.md b/ArduSub/README.md
index b9c3b68bd7..bfe2c71f83 100644
--- a/ArduSub/README.md
+++ b/ArduSub/README.md
@@ -4,13 +4,17 @@ ArduSub
 # Initial Setup
 
 1. Upload firmware to PX4
-2. Open QGroundControl. Set virtual joystick to unchecked. 
-3. Calibrate joystick with throttle and yaw on right stick, pitch and roll on left stick. Very carefully! Check RC out to verify all 1500 when centered.
+2. Open QGroundControl.
+3. Calibrate joystick with throttle and yaw on right stick, pitch and roll on left stick.
+	- Set to "full down is zero throttle"
 4. Calibrate radio using the joystick with the same inputs.
 5. Change parameters:
 	- DISARM_DELAY to 0
 	- ARMING_CHECK to Disabled
 	- BRD_SAFETYENABLE to Disabled
+	- AHRS_EKF_TYPE to Disabled
+	- AHRS_ORIENTATION to Roll90
+	- ATC_ACCEL_Y_MAX to Disabled
 6. Setup Power
 	- Analog Voltage and Current
 	- 10000 mAh
@@ -19,3 +23,11 @@ ArduSub
 	- Voltage pin: Pixhawk
 	- Voltage multiplier: 9.174
 	- Amps per volt: 14.70
+7. Setup Pressure Sensor
+	- 
+	- 
+
+
+Notes:
+
+- Change ALT_NOISE
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