Additional betaflight instructions

README.md

@@ -19,6 +19,8 @@ pip3 install --upgrade pip
 pip3 install -e .
 ```
 
+If needed, `sudo apt install build-essentials` to install `gcc` and build `pybullet`.
+
 ## Use
 
 ### PID position control example
@@ -40,9 +42,10 @@ python3 learn.py
 In one terminal, run the Betaflight SITL binary
 
 ```sh
-git clone  https://github.com/betaflight/betaflight
-cd betaflight/
-make TARGET=SITL # comment out this line: https://github.com/betaflight/betaflight/blob/c41b458e5891205da50465caeec0c1aa83beeb0c/src/main/main.c#L52
+git clone https://github.com/betaflight/betaflight
+cd betaflight/ 
+make arm_sdk_install # if needed, `apt install curl``
+make TARGET=SITL # comment out this line: https://github.com/betaflight/betaflight/blob/master/src/main/main.c#L52
 betaflight/obj/main/betaflight_SITL.elf
 ```
 

gym_pybullet_drones/examples/beta.py

@@ -1,15 +1,19 @@
 """Control + Betaflight. 
 
 Setup
----
+-----
 Step 1: Clone betaflight https://github.com/betaflight/betaflight
 
 Comment out line `delayMicroseconds_real(50); // max rate 20kHz` from Betaflight's SIMULATOR_BUILD
-    https://github.com/betaflight/betaflight/blob/c41b458e5891205da50465caeec0c1aa83beeb0c/src/main/main.c#L52
+    https://github.com/betaflight/betaflight/blob/master/src/main/main.c#L52
 
 Step 2: Install betaflight configurator https://github.com/betaflight/betaflight-configurator/releases
+    wget https://github.com/betaflight/betaflight-configurator/releases/download/10.9.0/betaflight-configurator_10.9.0_amd64.deb
+    sudo dpkg -i betaflight-configurator_10.9.0_amd64.deb 
 
-Load the `../assets/beta.txt` configuration file onto the target using the BF configurator
+Load the configuration file onto the target using the BF configurator
+    Type address `tcp://localhost:5761` (top right) and click `Connect`
+    Find the `CLI` tab (on the left) -> `Load from file` -> select file `../assets/beta.txt`
 
 Example
 -------