diff --git a/README.md b/README.md
index 489b5e58e3f35ec197d4fa5a68bb7b244c6aefa7..48ace9a3fdae1be7dc764e9f1b84764378fab5f3 100644
--- a/README.md
+++ b/README.md
@@ -4,6 +4,8 @@ This package is tested on LiU computers, which has some ros packages pre-install
 
 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.
 
+The mpc code has a preset location to which it will try to navigate to, this can be changed in the code, but also dynamically by setting the 2D nav goal in RViz.
+
 ## Create a catkin workspace as per the instructions at:
 <http://wiki.ros.org/ROS/Tutorials/CreatingPackage>