diff --git a/README.md b/README.md
index b8733db..0a175dd 100644
--- a/README.md
+++ b/README.md
@@ -83,14 +83,14 @@ Initilize rosdep:
 	sudo apt-get install -y xterm
 
 ### Clone oscillation_ctrl
-	cd ~catkin_ws/src
+	cd ~/catkin_ws/src
 	git clone https://git.spirirobotics.com/cesar.alejandro/oscillation_ctrl.git
 
 ### Add files to _tools/sitl_gazebo_
 copy (or add) files in _oscillation_ctrl/models_ and _oscillation_ctrl/worlds_ to _PX4-Autopilot/Tools/sitl_gazebo/models_ and _PX4-Autopilot/Tools/sitl_gazebo/worlds_ respectively
 
-	cp -R ~catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models
-	cp -R ~catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
+	cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/sitl_gazebo/models
+	cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
 
 ### Add files to _ROMFS/px4mu_common
 copy (or add) files in _oscillation_ctrl/airframes_ to _PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes_
@@ -137,12 +137,12 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
 
 ## ROS NODES
 ### LinkState.py 
-determines payload load angles and their rates (theta and phi) using Gazebo (needs to be made more robust), as well as determines tether length and keeps track of variables needed in case of step test.
+determines payload load angles and their rates (theta and phi) using Gazebo (needs to be made more robust), as well as determines tether length and keeps track of variables needed in case of a step or square test.
 
 __Publishes to__:
 
-	/status/twoBody_status # localization and angles
-	/status/load_angles    # payload angles (and tates) relative to vehicle
+	/status/twoBody_status # no longer used but keeps track of payload and vehicle position
+	/status/load_angles    # payload angles (and states) relative to vehicle
 	/status/path_follow    # boolean to run trajectory test
 __Subscribes to__:
 
@@ -164,7 +164,6 @@ takes in desired position (xd) and determines smooth path trajectory.
 __Publishes to__:
 
 	/reference/path         # smooth path
-	/reference/flatsetpoint # needed to determine thrust
 
 __Subscribes to__:
 
@@ -180,7 +179,7 @@ determines forces on drone needed based on smooth path and feedback to dampen os
 
 __Publishes to__:
 
-	/command/quaternions # attitude commands
+	/command/att_target # attitude commands
 
 __Subscribes to__:
 
@@ -190,8 +189,6 @@ __Subscribes to__:
 	/mavros/local_position/velocity_body
 	/mavros/imu/data
 
-- node from _mavros_controllers/geometric_controller_ subscribes to _/reference/flatsetpoint_ to determine thrust commands which are published to _command/bodyrate_command_ by default
-
 ### path_follow.cpp
 sets the vehicle in OFFBOARD mode (PX4) and takes off to a set height for 25 seconds before starting to publish attitude and thrust commands.
 
@@ -202,7 +199,7 @@ __Publishes to__:
 
 __Subscribes to__:
 
-	/command/quaternions	
+	/command/att_target	
 	/command/bodyrate_command	
 	/mavros/state