Crazyflie-Firmware/How-to-Build.md

-## Specify controller to use
-To specify the controller to use during flight, set the flag when running make `make CONTROLLER="Student"`. This command will build with the student controller.
+The Crazyflie is setup to use the Makefile in the root of the firmware folder. Several settings can be specified on the command line when running `make`. The common ones for compilation are listed here.
 
-During startup the crazyflie will record a message in the console that it is using a non-standard controller.
+## Specify the controller to use
+To specify the controller to use during flight, set the `CONTROLLER` flag when running make, `make CONTROLLER="Student"`. This command will build with the student controller. 
+
+The name of the controller is defined in the [controller.c](/../blob/master/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/controller.c) file at:
+```c
+static ControllerFcns controllerFunctions[] = {
+  {.init = 0, .test = 0, .update = 0, .name = "None"}, // Any
+  {.init = controllerPidInit, .test = controllerPidTest, .update = controllerPid, .name = "PID"},
+  {.init = controllerMellingerInit, .test = controllerMellingerTest, .update = controllerMellinger, .name = "Mellinger"},
+  {.init = controllerINDIInit, .test = controllerINDITest, .update = controllerINDI, .name = "INDI"},
+  {.init = controllerStudentInit, .test = controllerStudentTest, .update = controllerStudent, .name = "Student"}, 
+};
+```
+
+During startup the crazyflie will record a message in the console that it is using a non-standard controller:
 ```
 CONTROLLER: Using Student (4) controller
 ```
 
 
 ## How to add new files to the build path
-- create a new file in crazyflie firmware folder
-- add the to be generated .o file to the makefile's list of project objects, ex: `PROJ_OBJ += student_controller.o` on line 181
-- As the make file executes it generates dependencies for each files based on the `#include` preprocessor command. These dependency files are automatically placed in `/bin/dep/` folder.
+When creating new source files, they will need to be added to the Makefile in order to compile with the rest of the firmware.
+- Create a new file in crazyflie firmware folder
+- Add the to be generated .o file to the makefile's list of project objects, ex: `PROJ_OBJ += student_controller.o` on line 181 of `Makefile`
+    - Note: As the make file executes it generates dependencies for each files based on the `#include` preprocessor command. These dependency files are automatically placed in `/bin/dep/` folder.
 - run `make` to ensure the new file is included in your build
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