diff --git a/README.md b/README.md
index 73fcacd26f8a4ff95052e86a88b0421c087810ae..552a134c502b149972314e4a812930c1bb9670e5 100644
--- a/README.md
+++ b/README.md
@@ -6,38 +6,47 @@ _Microprocessor Controlled Aerial Robotics Team_
 
 **Project Statement**: "To create a modular platform for research in controls and embedded systems."
 
-Since 1998, MicroCART has been building aerial robots. Currently, we are
-building a quadcopter that can fly autonomously.
-
-MicroCART has 3 areas of development:
-- The **quadcopter** itself
-  - The quadcopter has been built from the ground up, incorporating a
-    Zybo board that provides the processor and a FPGA, an IMU sensor, motors,
-    props, a LiPo battery, a receiver for manual remote control, and a frame 
-    that holds it all together.
+Since 1998, MicroCART has been building aerial robots. Currently, we are modifying a small off the shelf
+quad, [The Crazyflie 2.1](https://www.bitcraze.io/products/crazyflie-2-1/), to suit our lab environment 
+where students explore embedded systems and control theory. 
+
+This year, MicroCART has 3 areas of development:
+- The **quadcopter firmware**
+  - The quadcopter firmware is largely already written and supported well by Bitcraze,
+    the creators of the Crazyflie. We are building on top of the stock firmware
+    to introduce students to the code in a guided manner.
 - The **ground station**
   - The ground station is responsible for issuing important data to the quad
-    (like position data from the camera system) and issuing commands to the quad
-    for things like configuration and path following directives.
-- The **controls model**
-  - The quadcopter processor is programmed to implement a PID controller. We use
-    a Simulink model to streamline the PID tuning process and to facilitate
-    effective characterization of the quad.
-
-## Sections
-- [Quadcopter](quad/README.md)  
-- [Ground Station](groundStation/README.md)  
-- [Controls](controls/README.md)  
-
-## Documentation
-- [Getting started](documentation/getting_started.md)
-- [How to demo the quadcopter](documentation/how_to_demo.md)  
-- [How to charge the LiPo batteries](documentation/how_to_charge_lipo.md)  
-- [Continuous Integration FAQ](documentation/ci_faq.md)  
-- [How to document things on Gitlab](documentation/how_to_document_things_on_gitlab.md)  
-- [How to update the website](website/README.md)  
-- [How to use Git](documentation/how_to_use_git.md)
-- [How to Calibrate the Camera System](documentation/how_to_calibrate_the_camera_system.md)
+    (like manual control and stabilization parameters) and receiving data from the quad 
+    like battery level and orientation.
+- The **test stand**
+  - The test stand is a new bit of kit designed to hold the Crazyflie while testing stabilization
+    parameters. It is designed to limit the quad to one axis of rotation at a time to isolate 
+    testing.
+
+## Folder Sections
+- [Crazyflie Firmware](crazyflie_software/crazyflie-firmware-2021.06)
+- [Ground Station](groundStation)
+- [Test Stand](crazyflie_hardware)
+- *Legacy*
+    - [Controls](controls)  
+    - [Quadcopter](quad/README.md)  
+
+
+## [Documentation](../../wikis/home)
+### [Search the wiki ->](https://git.ece.iastate.edu/search?group_id=631&project_id=740&repository_ref=&scope=wiki_blobs&snippets=false)
+All documentation is maintained in the [repository wiki](../../wikis/home). This makes our documentation easily *searchable*.
+
+- [Getting started](../../wikis/home)
+- [Continuous Integration FAQ](../../wikis/CI-CD)  
+- [How to document things on Gitlab](../../wikis/How-to-Document-Things-on-Gitlab)  
+- [How to update the website](../../wikis/Website-Management)  
+- [How to use Git](../../wikis/How-to-Use-Git)
+- [How to Calibrate the Camera System](../../wikis/How-to-Calibrate-the-Camera-System)
+- [Crazyflie Firmware Development](../../wikis/Crazyflie-Firmware/Crazyflie-Firmware-Development)
+- *Legacy*
+    - [How to demo the quadcopter](../../wikis/Legacy/How-to-Demo)  
+    - [How to charge the LiPo batteries](../../wikis/Legacy/How-to-Charge-Lipo)  
 
 # Stable Releases
-To browse stable releases from previous teams, view the [Tags](https://git.ece.iastate.edu/danc/MicroCART/-/tags).
+To browse stable releases from previous teams, view the [tags page](https://git.ece.iastate.edu/danc/MicroCART/-/tags).
diff --git a/wiki b/wiki
index 2cb686858436b3ffa71de7c562d257dadb64d964..8352b6242fc8eeedf3d25e2f22ee7fd6f6f39f39 160000
--- a/wiki
+++ b/wiki
@@ -1 +1 @@
-Subproject commit 2cb686858436b3ffa71de7c562d257dadb64d964
+Subproject commit 8352b6242fc8eeedf3d25e2f22ee7fd6f6f39f39