diff --git a/README.md b/README.md
index e1cc5a4..2af0fe0 100644
--- a/README.md
+++ b/README.md
@@ -65,10 +65,8 @@ Initilize rosdep:
 #### Download QGroundControl from:
 	https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html
 
-#### Build jMAVSim and Gazebo
+#### Build Gazebo Sim
 	cd ~/PX4-Autopilot
-	make px4_sitl jmavsim
-	#May need to open QGroundControl for it to work
 	make px4_sitl gazebo
 
 #### Create px4 package
@@ -96,6 +94,7 @@ Initilize rosdep:
 	catkin build
 	source ~/catkin_ws/devel/setup.bash
 	#####Troubleshooting: https://github.com/Jaeyoung-Lim/mavros_controllers
+
 ### 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
 ### ROMFS/PX4FMU_COMMON
@@ -104,16 +103,6 @@ Initilize rosdep:
 - add airframe name in _~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake_ (no number!)
 ### LAUNCH FILES
 - copy (or add) files from px4_launch directory to '~/PX4-Autopilot/launch'
-### MAVROS
-- in px4.launch, replace:
-
-		arg name="fcu_url" default="/dev/ttyACM0:57600" 
-		arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550"
-
-- with:
-
-		arg name="fcu_url" default="udp://:14551@192.168.1.91:14556"
-		arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" 
 
 #### CHANGE DEVEL/SETUP.BASH
 In catkin_ws (or any working directory) add to devel/setup.bash:
@@ -148,6 +137,7 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
 - __LinkState.py__ determines payload load angles and their rates (theta and phi), as well as determines tether length and keeps track of variables needed in case of step test.
 ### Publishes to:
 		/status/twoBody_status # localization and angles
+		/status/load_angles	   # payload angles (and tates) relative to vehicle
 		/status/path_follow    # boolean to run trajectory test
 ### Subscribes to:
 		none
@@ -156,7 +146,8 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
 		/reference/path			# smooth path
 		/reference/flatsetpoint    	# needed to determine thrust
 ### Subscribes to:
-		/status/twoBody_status
+		/status/load_angles
+		/mavros/local_position/pose
 		/mavros/local_position/velocity_body
 		/mavros/imu/data
 		/mavros/state
@@ -164,12 +155,12 @@ In catkin_ws (or any working directory) add to devel/setup.bash:
 - __klausen_control.py__ determines forces on drone needed based on smooth path and feedback to dampen oscillations. From the forces needed, it publishes attitude commands.
 ### Publishes to:
 		/command/quaternions		# attitude commands
-		/reference/flatsetpoint    	# needed to determine thrust
 ### Subscribes to:
-		/status/twoBody_status
+		/status/load_angles
 		/reference/path
-		/mavros/imu/data
+		/mavros/local_position/pose
 		/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.
 ### Publishes to: