diff --git a/README.md b/README.md
index 859ea63..0ac8239 100644
--- a/README.md
+++ b/README.md
@@ -1,19 +1,46 @@
# vesc-firmware
-Firmware and configuration files for Vedder electronic speed controller VESC MkIV.
+Firmware and configuration files for the Vedder Electronic Speed Controller (VESC) firmware version 5.02. There are firmware builds for the VESC6 MkIII, MkIV, and MkV. See releases for previous versions.
-Convenience repository for VESC firmware and configuration files for RACECAR/J.
+This is a convenience repository for VESC firmware and configuration files for RACECAR/J.
-The firmware and configuration file are version 5.01 of the firmware.
+There is a configuration file for for VESC 6 in the VESC-Configuration/vesc6_upenn_foc.xml.
-There is a configuration file for for VESC 6 Plus in the VESC-Configuration/VESC-6-Plus-30k.xml.
+Quick install instructions
+This firmware may be flashed using the vesc-tool: https://vesc-project.com/vesc_tool version 3.00. Earlier version of the VESC Tool will upload the firmware, but will not interact with it properly.
-How firmware is built
+It may be necessary to download the bootloader to the VESC. The bootloader is available in the VESC Tool, Firmware->Bootloader.
+
+Bootloader installation instructions
+
+* Connect your VESC via USB to your host computer. Power on the VESC.
+* Open the VESC Tool.
+* Click Autoconnect.
+* Go to the Firmware section on the left.
+* Go to the Bootloader tab at the top.
+* Click the Upload button in the bottom-right.
+* Click "Write Motor Configuration".
+* Click "Write App Configuration".
+
+Firmware Installation
+
+* Connect your VESC via USB to your host computer. Power on the VESC.
+* Click Autoconnect.
+* Go to the Firmware section on the left
+* Go to the Custom File tab.
+* Click the folder icon and browse to the appropriate VESC_TOOL folder and firmware binary for your VESC.
+* Click the Upload button in the bottom-right.
+
+Once this is complete, wait at least 10 seconds before re-connecting to configure additional parameters.
+
+How the firmware is built
The general instructions for building the firmware are on the Vedder Github account, bottom of the page:
https://github.com/vedderb/bldc Before building, you will need to change a parameter which tells the firmware to use the PPM port to as an output. We use that to control the steering servo.
$ git clone https://github.com/vedderb/bldc.git
+
+
$ cd bldc
@@ -30,17 +57,24 @@ then you are ready to build:
$ make
-The resulting firmware file is inside the "build" directory: BLDC_4_ChibiOS.bin
+You will also need to enable the correct version of the hardware from the list of #defines. For example the current default in conf_general.h is:
+
+#define HW60_IS_MK5
+
+Indicating that the firmware build will be for a VESC6 MkV.
+
+The resulting firmware file after the build will be inside the "build" directory: BLDC_4_ChibiOS.bin
-Typically this is renamed to VESC_servoout.bin
+Typically you will rename this to something more descriptive.
You can then upload this to the VESC using the VESC tool.
Notes
-November 2020
+January 2021
-* The VESC 6 MkV has been released, but the master branch has not been updated in the Vedder bldc repository.
+* This is for version 5.02 of the VESC firmware. There are versions for the VESC6 MkIII, MkIV, and MkV.
+* Install with VESC Tool Version 3.0+ https://vesc-project.com/vesc_tool
September 2020
diff --git a/firmware/README.md b/firmware/README.md
index f9e4831..e28ffd8 100644
--- a/firmware/README.md
+++ b/firmware/README.md
@@ -1,9 +1,32 @@
# VESC Configurations
-This firmware is for version 5.01 for the VESC6 MkIV. This will *NOT* work with earlier versions of VESC hardware!!!! This firmware may damage other versions of the hardware.
+This firmware is for version 5.02 for the VESC6. There are versions for the VESC6 MkIII, MkIV and MkV. Make sure that you select the correct version for your hardware!!! This firmware may damage other versions of the hardware.
-The firmware 'VESC_servoout.bin' allows for servo control. The firmware is from the Vedder bldc-tool repository: https://github.com/vedderb/bldc-tool
+These firmware allow for servo control. The firmware is from the Vedder bldc-tool repository: https://github.com/vedderb/bldc-tool
+
+This firmware may be flashed using the vesc-tool: https://vesc-project.com/vesc_tool version 3.00.
+
+In the case of the VESC6 MkV, it may be necessary to download the bootloader to the VESC. The bootloader is available in the VESC Tool, Firmware->Bootloader.
+
+Bootloader installation instructions:
+
+Connect your VESC via USB to your host computer.
+Open the appropriate version of the VESC Tool.
+Click Autoconnect.
+Go to the Firmware section on the left.
+Go to the Bootloader tab at the top.
+Click the Upload button in the bottom-right.
+Click "Write Motor Configuration".
+Click "Write App Configuration".
+
+Firmware Installation:
+Connect your VESC via USB to your host computer.
+Click Autoconnect.
+Go to the Firmware section on the left
+Go to the Custom File tab.
+Click the folder icon and browse to the appropriate VESC_TOOL folder and firmware binary for your VESC.
+Click the Upload button in the bottom-right.
+Once this is complete, wait at least 10 seconds before re-connecting to configure additional parameters.
-This firmware may be flashed using the vesc-tool: https://vesc-project.com/vesc_tool
diff --git a/firmware/VESC_60_MkIII_5.02_SERVO_OUT.bin b/firmware/VESC_60_MkIII_5.02_SERVO_OUT.bin
new file mode 100755
index 0000000..7f1dbe4
Binary files /dev/null and b/firmware/VESC_60_MkIII_5.02_SERVO_OUT.bin differ
diff --git a/firmware/VESC_60_MkIV_5.02_SERVO_OUT.bin b/firmware/VESC_60_MkIV_5.02_SERVO_OUT.bin
new file mode 100755
index 0000000..d9ccaca
Binary files /dev/null and b/firmware/VESC_60_MkIV_5.02_SERVO_OUT.bin differ
diff --git a/firmware/VESC_servoout.bin b/firmware/VESC_60_MkV_5.02_SERVO_OUT.bin
similarity index 55%
rename from firmware/VESC_servoout.bin
rename to firmware/VESC_60_MkV_5.02_SERVO_OUT.bin
index 022f3da..d6e846c 100755
Binary files a/firmware/VESC_servoout.bin and b/firmware/VESC_60_MkV_5.02_SERVO_OUT.bin differ