diff --git a/README.md b/README.md
index e872d3a..b8733db 100644
--- a/README.md
+++ b/README.md
@@ -227,4 +227,6 @@ __test:__
 	square # square trajectory
 To run the simulation with a tethered payload headless mode and perform a step test:
 
-	roslaunch oscillation_ctrl oscillation_damp.launch model:=headless_spiri_with_tether test:=step
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+	roslaunch oscillation_ctrl oscillation_damp.launch model:=headless_spiri_with_tether test:=step
+
+Whenever the oscillation_ctrl is used, the scripts are written such that the vehicle will hover for about 30 seconds in "Position Mode". This is used to take advantage of the takeoff procedure PX4 has, as this controller assumes the vehicle is already in flight when determining the necessary thrust. 
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