Crazyflie-Firmware/Flashing.md

@@ -5,7 +5,11 @@ To automatically set a specific crazyflie into boot loader mode, add `CLOAD_CMDS
 2. Run `make cload`. Your machine should connect to the crazyflie on the specified radio channel, set it to bootloader mode, and begin flashing the newly built firmware.
 
 # Flashing over USB (Device Firmware Update (DFU) Mode)
-This mode allows for flashing the Crazyflie firmware over USB. More specifically it will overwrite the firmware on the microcontroller (STM32F405) that runs the Crazyflie. Writing using usb provides some advantages over using the crazyradio, mainly it does not require modifying the `config.mk` file and many Crazyflies can be flashed near by with no conflicts
+This mode allows for flashing the Crazyflie firmware over USB. More specifically it will overwrite the firmware on the microcontroller (STM32F405) that runs the Crazyflie. Writing using usb provides some advantages over using the crazyradio, mainly it does not require modifying the `config.mk` file and many Crazyflies can be flashed near by with no conflicts. 
+
+
+## Automatic DFU Update
+This method requires that the Crazyflie can boot into the normal firmware. If this is not possible, [Manual DFU Update](Crazyflie-Firmware/Flashing#manual-dfu-update) will be needed
 
 0. Ensure `dfu-util` is installed on your machine
 1. Compile the firmware, see [How to Build](Crazyflie-Firmware/How-to-Build)
@@ -16,6 +20,8 @@ This mode allows for flashing the Crazyflie firmware over USB. More specifically
 6. Execute `make flash_dfu` to begin flashing, do not remove usb cable until flashing is complete and the Crazyflie reboots
 
 ## Manual DFU update
+TODO: change this to use `make flash_dfu_manual` which will run the dfu_util but not automatically put the crazyflie into DFU mode.
+
 ### **WARNING, THIS METHOD CAN OVERWRITE THE BOOTLOADER, USE WITH CAUTION**
 This method is what happens behind the scenes when running `make flash_dfu`.  This can manually overwrite the Crazyflie firmware and the bootloader so use with caution.