diff --git a/gym_pybullet_drones/assets/clone_bfs.sh b/gym_pybullet_drones/assets/clone_bfs.sh
index 0f003ec2b..a9473a4b1 100755
--- a/gym_pybullet_drones/assets/clone_bfs.sh
+++ b/gym_pybullet_drones/assets/clone_bfs.sh
@@ -3,4 +3,13 @@
 # USE
 # 1. ..
 
-echo 'TBD'
\ No newline at end of file
+echo 'TBD'
+
+git clone https://github.com/betaflight/betaflight
+cd betaflight/
+# comment out line `delayMicroseconds_real(50); // max rate 20kHz` in ./src/main/main.c
+# edit ports in ./src/main/target/SITL/sitl.c, ./src/main/drivers/serial_tcp.c
+make arm_sdk_install 
+make TARGET=SITL 
+cp ~/gym-pybullet-drones/gym_pybullet_drones/assets/eeprom.bin ~/betaflight/
+./obj/main/betaflight_SITL.elf
\ No newline at end of file