diff --git a/README.md b/README.md
index 04649a23cd8d6309d78d1f39d309ddc6e6e166fa..91e4f0a17400e0b0f52116ec5729742d18de93f6 100644
--- a/README.md
+++ b/README.md
@@ -3,12 +3,13 @@
 pointcloud_to_laserscan and velodyne_description are standard packages that have been altered, this is why they are included in this repository. To make the LiDAR less resource-heavy, the velodyne_description has been modified to make it generate more sparse readings.
 
 ## Copy bash files to root catkin workspace folder
-Copy these files to your catkin worksspace, they are used to launch Gazeob, RViz, the LiDAR-launch file, and the MPC-launch file.
+Copy the bash files to your catkin worksspace, they are used to launch Gazeob, RViz, the LiDAR-launch file, and the MPC-launch file.
 ```
 cp src/reactive-collision-avoidance/bash_launch_files/* .
 ```
 
 ## Installing ACADO for MPC
+Do the following in the src/ folder in your catkin workspace.
 ```
 git clone https://github.com/acado/acado.git -b stable ACADOtoolkit
 
@@ -35,7 +36,9 @@ source [pathToAcado]/build/acado_env.sh
 
 ## Modifying MPC
 The MPC Solver is generated by: mav_control_rw/mav_nonlinear_mpc/solver_made_from_cpp/nmpc_solver_setup.cpp
+
 The MPC Solver is used by: mav_control_rw/mav_nonlinear_mpc/src/nonlinear_mpc.cc
+
 Generated arrays can be seen in: mav_control_rw/mav_nonlinear_mpc/solver/acado_common.h
 
 ### When changes are made to nmpc_solver_setup, make sure to build it accordingly: