From 82a4d2912b855d565e37e040c3abfd632be55734 Mon Sep 17 00:00:00 2001
From: Derek Fan <herpderkfanie@gmail.com>
Date: Fri, 18 Aug 2023 03:32:29 -0700
Subject: [PATCH] added instructions for mpc usage

---
 README.md | 19 ++++++++++++++++++-
 1 file changed, 18 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 0995d7e2..b60e271e 100644
--- a/README.md
+++ b/README.md
@@ -145,4 +145,21 @@
 4. Test it out with an example
 	```
 	ros2 launch px4_ros_com sensor_combined_listener.launch.py
-	```
\ No newline at end of file
+	```
+
+
+### Acados Installation (for MPC usage)
+
+1. [Follow these instructions to install Acados.](https://docs.acados.org/installation/)
+
+2. [Install the Python interface afterwards.](https://docs.acados.org/python_interface/index.html)
+
+
+### Install required and local Python libraries (again, for MPC usage)
+
+1. cd into this repo's root directory.
+
+2. Run:
+	```
+	pip install -e .
+	```