diff --git a/README.md b/README.md
index 90a9ad5..40fb6ce 100644
--- a/README.md
+++ b/README.md
@@ -94,7 +94,17 @@ For advanced users, manually clone and set up the environment using the forked P
    bash ./Tools/setup/ubuntu.sh
    ```
 
-3. Build the desired airframes:
+3. Configure PX4 SITL:
+   - In Windows Terminal, check your IP address (e.g., `172.21.144.1`):
+     ```bash
+     ipconfig
+     ```
+   - In the WSL Terminal, inside the PX4-Autopilot directory, set the PX4 simulation hostname with your IP:
+     ```bash
+     export PX4_SIM_HOSTNAME=172.21.144.1
+     ```
+
+4. Build the desired airframes:
    ```bash
    make px4_sitl xplane_ehang184
    ```
diff --git a/docs/v1.0.0.html b/docs/v1.0.0.html
index 7104d28..a661698 100644
--- a/docs/v1.0.0.html
+++ b/docs/v1.0.0.html
@@ -1,153 +1,355 @@
-﻿
-# PX4 with X-Plane and QGroundControl Setup Guide (v2.0.0, August 2024)
-
-![YouTube Video Coming Soon](https://via.placeholder.com/900x500.png?text=YouTube+Video+Coming+Soon)
-
-Watch full setup guide and demonstration on YouTube: [PX4 X-Plane Plugin Tutorial](https://www.youtube.com/watch?v=aRJxsnf24k4).
-
-## Table of Contents
-
-- [Download and Install Softwares](#download-and-install-softwares)
-- [Setting Up the Environment](#setting-up-the-environment)
-- [Clone and Build PX4](#clone-and-build-px4)
-- [Configuration](#configuration)
-- [Additional Tips](#additional-tips)
-
----
-
-## Download and Install Softwares
-
-1. **X-Plane**
-   Download X-Plane 11 or 12 from the [X-Plane Official Website](https://www.x-plane.com/download/).
+<!DOCTYPE html>	﻿# PX4 with X-Plane and QGroundControl Setup Guide (v2.0.0, August 2024)
+<html lang="en">	
+<head>	![YouTube Video Coming Soon](https://via.placeholder.com/900x500.png?text=YouTube+Video+Coming+Soon)
+    <meta charset="UTF-8">	
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">	Watch full setup guide and demonstration on YouTube: [PX4 X-Plane Plugin Tutorial](https://www.youtube.com/watch?v=aRJxsnf24k4).
+    <title>PX4 Setup Guide with X-Plane and QGroundControl</title>	
+    <style>	## Table of Contents
+        body {	
+            font-family: 'Arial', sans-serif;	- [Download and Install Softwares](#download-and-install-softwares)
+            line-height: 1.6;	- [Setting Up the Environment](#setting-up-the-environment)
+            color: #333;	- [Clone and Build PX4](#clone-and-build-px4)
+            background-color: #fff;	- [Configuration](#configuration)
+        }	- [Additional Tips](#additional-tips)
+
+
+        .container {	---
+            max-width: 1200px;	
+            margin: 0 auto;	## Download and Install Softwares
+            padding: 20px;	
+            background-color: #f9f9f9;	1. **X-Plane**
+            box-shadow: 0 0 10px rgba(0, 0, 0, 0.1);	   Download X-Plane 11 or 12 from the [X-Plane Official Website](https://www.x-plane.com/download/).
+        }	
 
 2. **eVTOL Air Taxi (eHang 184)**
-   You can download the eVTOL Air Taxi (eHang 184) from the [X-Plane Forum](https://forums.x-plane.org/index.php?/files/file/76635-quadricopter-piloted/), though it's no longer required as the script supports multiple airframes.
+        h1, h2, h3 {	   You can download the eVTOL Air Taxi (eHang 184) from the [X-Plane Forum](https://forums.x-plane.org/index.php?/files/file/76635-quadricopter-piloted/), though it's no longer required as the script supports multiple airframes.
+            color: #3079ed;	
+            margin-bottom: 15px;	3. **QGroundControl**
+        }	   Download QGroundControl from the [Official Download Page](https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html).
 
-3. **QGroundControl**
-   Download QGroundControl from the [Official Download Page](https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html).
 
-4. **PX4xplane Plugin**
-   Download the precompiled binary from [PX4xplane Releases](https://github.com/alireza787b/px4xplane/releases). Install the plugin in the `Resources/Plugins` folder in X-Plane.
+        p, li {	4. **PX4xplane Plugin**
+            font-size: 1.1em;	   Download the precompiled binary from [PX4xplane Releases](https://github.com/alireza787b/px4xplane/releases). Install the plugin in the `Resources/Plugins` folder in X-Plane.
+        }	
 
 ---
-
-## Setting Up the Environment
-
-### Windows Users - Setting Up WSL2
-
-WSL2 (Windows Subsystem for Linux) allows you to run a Linux environment directly in Windows. This setup is necessary for Windows users to run PX4 simulation.
-
-1. Ensure virtualization is enabled in your BIOS (Virtualization Technology, Intel VT-x, AMD-V).
-2. For Windows 10 (build 19041 or higher) and Windows 11, open Command Prompt **as administrator** and install WSL2 with Ubuntu 22.04:
-
-   ```bash
-   wsl --install
-   ```
+        nav {	
+            text-align: center;	## Setting Up the Environment
+            padding: 10px;	
+        }	### Windows Users - Setting Up WSL2
+
+
+            nav a {	WSL2 (Windows Subsystem for Linux) allows you to run a Linux environment directly in Windows. This setup is necessary for Windows users to run PX4 simulation.
+                padding: 10px 15px;	
+                display: inline-block;	1. Ensure virtualization is enabled in your BIOS (Virtualization Technology, Intel VT-x, AMD-V).
+                margin: 0 5px;	2. For Windows 10 (build 19041 or higher) and Windows 11, open Command Prompt **as administrator** and install WSL2 with Ubuntu 22.04:
+                border-radius: 5px;	
+                transition: background-color 0.3s, text-decoration 0.3s;	   ```bash
+                color: #3079ed;	   wsl --install
+                text-decoration: none;	   ```
+            }	
 
 3. Once you have set up WSL2 and completed the initial PX4 installation with the provided script, you can use the `px4xplane` command to build and run the simulation from anywhere in your Linux terminal.
+                nav a:hover {	
+                    background-color: #f2f2f2;	**Note:** The script is optimized for WSL but works on Linux too.
+                    text-decoration: none; /* Ensures no underline on hover */	
+                }	---
 
-**Note:** The script is optimized for WSL but works on Linux too.
-
----
-
-## Clone and Build PX4
 
-### Quick Setup Using the Automated Script
+        /* Typography */	## Clone and Build PX4
+         p, li {	
+            font-size: 1.1em; /* Adjust as needed */	### Quick Setup Using the Automated Script
+        }	
 
 To use the automated setup script, follow these steps:
-
-1. Open your terminal and change the directory to your home directory:
+        /* Box Style for Command Blocks */	
+        .command {	1. Open your terminal and change the directory to your home directory:
+            position: relative;	
+            background-color: #f2f2f2;	   ```bash
+            padding: 10px;	   cd ~
+            margin-bottom: 20px;	   ```
+            border-radius: 5px;	
+            box-shadow: 0 2px 5px rgba(0,0,0,0.1);	2. Download the setup script using `curl`:
+        }	
 
    ```bash
-   cd ~
-   ```
 
-2. Download the setup script using `curl`:
-
-   ```bash
    curl -O https://raw.githubusercontent.com/alireza787b/px4xplane/master/setup/setup_px4_sitl.sh
-   ```
+        .footer {	   ```
+            text-align: center;	
+            margin-top: 50px;	3. Run the setup script:
+            padding: 20px;	
+            background-color: #eee;	   ```bash
+            font-size: 0.9em;	   bash ./setup_px4_sitl.sh
+        }	   ```
 
-3. Run the setup script:
 
-   ```bash
-   bash ./setup_px4_sitl.sh
-   ```
+            .footer a {	4. Once setup is complete, use the `px4xplane` command to run the simulation from anywhere in your terminal.
+                color: #3079ed;	
+            }	### Show Manual Advanced Setup (Toggle)
 
-4. Once setup is complete, use the `px4xplane` command to run the simulation from anywhere in your terminal.
 
-### Show Manual Advanced Setup (Toggle)
 
 Advanced users can manually clone and set up the environment using the forked PX4 repository:
 
-```bash
-git clone https://github.com/alireza787b/PX4-Autopilot-Me.git --recursive
-```
 
-Navigate to the cloned directory:
+        .copy-icon {	```bash
+            position: absolute;	git clone https://github.com/alireza787b/PX4-Autopilot-Me.git --recursive
+            top: 5px;	```
+            right: 5px;	
+            cursor: pointer;	Navigate to the cloned directory:
+            color: #3079ed;	
+            font-size: 1.2em;	```bash
+        }	cd PX4-Autopilot-Me
 
-```bash
-cd PX4-Autopilot-Me
 ```
+            .copy-icon svg {	
+                height: 20px;	Run the setup script:
+                width: 20px;	
+            }	```bash
 
-Run the setup script:
-
-```bash
 bash ./Tools/setup/ubuntu.sh
-```
+        ul {	```
+            margin-left: 20px;	
+        }	Follow the regular PX4 WSL setup instructions, replacing the official repository with the forked one. Once set up, you can build the desired airframes with commands like:
 
-Follow the regular PX4 WSL setup instructions, replacing the official repository with the forked one. Once set up, you can build the desired airframes with commands like:
 
-```bash
-make px4_sitl xplane_ehang184
-```
 
-Other airframes include:
+```bash
+        .dark-mode {	make px4_sitl xplane_ehang184
+            background-color: #333;	```
+            color: #fff;	
+        }	Other airframes include:
 
-- `xplane_alia250`
-- `xplane_cessna172`
-- `xplane_tb2`
 
----
+            .dark-mode .container {	- `xplane_alia250`
+                background-color: #444;	- `xplane_cessna172`
+            }	- `xplane_tb2`
 
-## Configuration
 
-### Configure PX4 SITL
+            .dark-mode nav a {	---
+                color: #fff;	
+            }	## Configuration
 
-**Automatic Configuration:** The automated script handles all configuration steps, including setting up the airframes for X-Plane. You only need to select the desired airframe during the setup process.
 
-Start the simulation:
+            .dark-mode .command {	### Configure PX4 SITL
+                background-color: #555;	
+            }	**Automatic Configuration:** The automated script handles all configuration steps, including setting up the airframes for X-Plane. You only need to select the desired airframe during the setup process.
 
-```bash
-px4xplane
-```
 
-The selected airframe will automatically load in X-Plane, and you can manage the configuration through the PX4 SITL menus directly. Manual parameter loading is no longer required for the supported airframes.
+            .dark-mode .footer {	Start the simulation:
+                background-color: #222;	
+            }	```bash
 
----
-
-## Additional Tips
+px4xplane
+    </style>	```
+    <script>	
+        window.onload = function () {	The selected airframe will automatically load in X-Plane, and you can manage the configuration through the PX4 SITL menus directly. Manual parameter loading is no longer required for the supported airframes.
+            var commands = document.querySelectorAll('.command code');	
+            commands.forEach(function (command, index) {	---
+                var icon = document.createElement('span');	
+                icon.innerHTML = '<svg viewBox="0 0 24 24"><path fill-rule="evenodd" clip-rule="evenodd" d="M12 4C10.8954 4 10 4.89543 10 6H14C14 4.89543 13.1046 4 12 4ZM8.53513 4C9.22675 2.8044 10.5194 2 12 2C13.4806 2 14.7733 2.8044 15.4649 4H17C18.6569 4 20 5.34315 20 7V19C20 20.6569 18.6569 22 17 22H7C5.34315 22 4 20.6569 4 19V7C4 5.34315 5.34315 4 7 4H8.53513ZM8 6H7C6.44772 6 6 6.44772 6 7V19C6 19.5523 6.44772 20 7 20H17C17.5523 20 18 19.5523 18 19V7C18 6.44772 17.5523 6 17 6H16C16 7.10457 15.1046 8 14 8H10C8.89543 8 8 7.10457 8 6Z" fill="currentColor"></path></svg>';	## Additional Tips
+                icon.className = 'copy-icon';	
+                icon.onclick = function () { copyToClipboard(command.textContent); };	- Maintain a high FPS in X-Plane for stable flight.
+                command.parentNode.appendChild(icon);	- The EKF estimator may have limitations in high acceleration maneuvers.
+            });	- For errors: use the script's repair mode: `./setup_px4_sitl.sh --repair`.
+            document.getElementById('toggleTheme').addEventListener('click', function () {	- If issues persist, you may need to delete the cloned repository and start from scratch.
+                document.body.classList.toggle('dark-mode');	- You can remove the global paths using the uninstall option: `px4xplane --uninstall`.
+            });	- Remember, you can always manually build by navigating to your cloned repository and running the build commands directly.
+        };	- YouTube video demonstration will be released soon.
 
-- Maintain a high FPS in X-Plane for stable flight.
-- The EKF estimator may have limitations in high acceleration maneuvers.
-- For errors: use the script's repair mode: `./setup_px4_sitl.sh --repair`.
-- If issues persist, you may need to delete the cloned repository and start from scratch.
-- You can remove the global paths using the uninstall option: `px4xplane --uninstall`.
-- Remember, you can always manually build by navigating to your cloned repository and running the build commands directly.
-- YouTube video demonstration will be released soon.
 - For more information, visit the [Official GitHub Repository](https://github.com/alireza787b/px4xplane).
-
----
-
-© 2024 [Alireza Ghaderi](https://www.linkedin.com/in/alireza787b/). All rights reserved. For more information, visit the [Official GitHub Repository](https://github.com/alireza787b/px4xplane).
-```
+        function copyToClipboard(text) {	
+            navigator.clipboard.writeText(text).then(function () {	---
+                alert("Copied to clipboard");	
+            }).catch(function (error) {	© 2024 [Alireza Ghaderi](https://www.linkedin.com/in/alireza787b/). All rights reserved. For more information, visit the [Official GitHub Repository](https://github.com/alireza787b/px4xplane).
+                alert("Copy failed: " + error);	```
+            });	
 
 ### **Key Points**:
-1. **Header Image Placeholder**: Linked to a future YouTube video for visual engagement.
+        }	1. **Header Image Placeholder**: Linked to a future YouTube video for visual engagement.
+
 2. **Table of Contents**: Allows easy navigation across different sections.
+
 3. **Quick Setup Section**: Simple step-by-step guide for setting up the environment using the automated script.
+
 4. **Manual Advanced Setup**: Detailed instructions for advanced users who prefer manual installation.
-5. **Additional Tips**: Helpful tips for troubleshooting and advanced options like repair and uninstall modes.
-6. **Footer with Copyright Notice**: Links to the author’s LinkedIn and the project’s GitHub repository.
+    </script>	5. **Additional Tips**: Helpful tips for troubleshooting and advanced options like repair and uninstall modes.
 
-This Markdown version is optimized for GitHub's Markdown renderer and should work seamlessly within your repository.
\ No newline at end of file
+6. **Footer with Copyright Notice**: Links to the author’s LinkedIn and the project’s GitHub repository.
+</head>	
+<body>	
+    <div class="container">	
+        <header>	
+            <h1>PX4 with X-Plane and QGroundControl Setup Guide (v1.0.0-beta, Nov 2023)</h1>	
+            <div style="text-align: center; margin: 20px;">	
+        <a href="https://www.youtube.com/watch?v=aRJxsnf24k4" target="_blank">	
+            <img src="https://img.youtube.com/vi/aRJxsnf24k4/0.jpg" alt="PX4 X-Plane Plugin Tutorial" style="width: 60%; height: auto; border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">	
+        </a>	
+                    <p>Watch full setup guide and demonstration on YouTube: <a href="https://www.youtube.com/watch?v=aRJxsnf24k4" target="_blank">PX4 X-Plane Plugin Tutorial</a>.</p>	
+
+    </div>	
+            <nav>	
+                <a href="#download-software">Download and Install Softwares</a> |	
+                <a href="#setting-up-environment">Setting Up the Environment</a> |	
+                <a href="#Clone-and-build-pX4">Clone and Build PX4</a> |	
+                <a href="#configuration">Configuration</a> |	
+                <a href="#additional-tips">Additional Tips</a>	
+            </nav>	
+            <div class="theme-toggle">	
+                <button id="toggleTheme">Toggle Night/Day Mode</button>	
+            </div>	
+
+        </header>	
+        <section id="download-software">	
+            <h2>Download and Install Softwares</h2>	
+            <ol>	
+                <li>	
+                    <strong>X-Plane</strong>:	
+                    <p>Download X-Plane 11 or 12 from the <a href="https://www.x-plane.com/download/" target="_blank">X-Plane Official Website</a>.</p>	
+                </li>	
+                <li>	
+                    <strong>Quadricopter eVTOL Air Taxi</strong>:	
+                    <p>Download the Quadricopter eVTOL Air Taxi from the <a href="https://forums.x-plane.org/index.php?/files/file/76635-quadricopter-piloted/" target="_blank">X-Plane Forum</a>. Install it in the <code>Aircraft/</code> folder.</p>	
+                </li>	
+                <li>	
+                    <strong>QGroundControl</strong>:	
+                    <p>Download QGroundControl from the <a href="https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html" target="_blank">Official Download Page</a>.</p>	
+                </li>	
+                <li>	
+                    <strong>PX4xplane Plugin</strong>:	
+                    <p>Download the precompiled binary from <a href="https://github.com/alireza787b/px4xplane/releases" target="_blank">PX4xplane Releases</a>.</p>	
+                    <p>Copy the <code>px4xplane</code> folder to the specific drone's plugin folder in X-Plane: <code>X-Plane Installation Folder/Aircraft/Quadricopter-Piloted/Plugins</code></p>	
+                    <p>For global installation: <code>X-Plane Installation Folder/Resources/Plugins</code></p>	
+                </li>	
+            </ol>	
+        </section>	
+        <section id="setting-up-environment">	
+            <h2>Setting Up the Environment</h2>	
+            <p><strong>Note for Mac and Linux Users:</strong> No extra steps are required for setting up the environment on Mac and Linux systems.</p>	
+
+            <h3>Windows Users - Setting Up WSL2</h3>	
+            <p>WSL2 (Windows Subsystem for Linux) allows you to run a Linux environment directly in Windows. This setup is necessary for Windows users to run PX4 simulation.</p>	
+            <p>First, ensure virtualization (Virtualization Technology, Intel VT-x, AMD-V) is enabled in BIOS.</p>	
+            <p>	
+                For Windows 10 (build 19041 or higher) and Windows 11, Open Command Prompt <strong>as administrator</strong> and install WSL2 with Ubuntu 22.04:	
+            </p>	
+
+            <div class="command">	
+                <code>wsl --install</code>	
+            </div>	
+            <p>If you need more help or information about WSL, consider the following resources:</p>	
+            <ul>	
+                <li><a href="https://www.youtube.com/watch?v=iVU8ZNoMn_U" target="_blank">WSL with PX4 (Video)</a></li>	
+                <li><a href="https://www.youtube.com/watch?v=YByZ_sOOWsQ" target="_blank">How to  WSL Configuration (Video)</a></li>	
+            </ul>	
+            <p><strong>Hint:</strong> If you want a different version of Ubuntu or need to manage multiple WSL instances, you can specify the distribution during installation using commands like <code>wsl --install -d Ubuntu-20.04</code>.</p>	
+
+
+
+        </section>	
+        <section id="Clone-and-build-pX4">	
+            <h2>Clone and Build PX4</h2>	
+             <p><strong>Hint:</strong> Some steps might change over time. Make sure to check latest instruction from PX4 <a href="https://docs.px4.io/main/en/simulation" target="_blank">Official Documentation</a>.</p>	
+            <p>In WSL2, clone and set up the PX4 environment:</p>	
+            <div class="command">	
+                <code>git clone https://github.com/PX4/PX4-Autopilot.git --recursive</code>	
+            </div>	
+            <p>Navigate to the cloned directory:</p>	
+            <div class="command">	
+                <code>cd PX4-Autopilot</code>	
+            </div>	
+            <p>Run the setup script:</p>	
+            <div class="command">	
+                <code>bash ./Tools/setup/ubuntu.sh</code>	
+            </div>	
+            <p>Restart System:</p>	
+            <p>If using WSL:</p>	
+            <div class="command">	
+                <code>exit</code>	
+            </div>	
+            <div class="command">	
+                <code>wsl --shutdown</code>	
+            </div>	
+            <div class="command">	
+                <code>wsl</code>	
+            </div>	
+        </section>	
+
+        <section id="configuration">	
+
+
+
+            <h3>Run X-Plane and Load Drone</h3>	
+            <p>Start X-Plane and load the Quadricopter eVTOL Air Taxi.</p>	
+
+            <h3>Configure PX4 SITL</h3>	
+            <p>In Windows Terminal, check your IP address:(eg. 172.21.144.1)</p>	
+            <div class="command">	
+                <code>ipconfig</code>	
+            </div>	
+            <p>In the WSL Terminal and inside the PX4-Autopilot, Set the PX4 simulation hostname with your IP:</p>	
+            <div class="command">	
+                <code>export PX4_SIM_HOSTNAME=172.21.144.1</code>	
+            </div>	
+            <p>Start the simulation:</p>	
+            <div class="command">	
+                <code>make px4_sitl none_iris</code>	
+            </div>	
+
+            <h2>Configuration</h2>	
+
+
+            <h3>Set Up QGroundControl</h3>	
+            <p>For direct connection on Mac/Linux, QGroundControl should auto-connect.</p>	
+            <p>For remote connection (e.g., WSL2):</p>	
+            <ul>	
+                <li>Open Application Settings in QGroundControl.</li>	
+                <li>Go to Comm Links.</li>	
+                <li>Add a new connection with the WSL2 IP to UDP port 18570.</li>	
+            </ul>	
+
+
+            <h3>Connect X-Plane to PX4 SITL</h3>	
+            <p>In X-Plane, go to the plugin menu and connect to SITL by following these steps:</p>	
+            <ul>	
+                <li>Navigate to the plugin menu.</li>	
+                <li>Select 'px4xplane'.</li>	
+                <li>Choose 'Connect to SITL'.</li>	
+            </ul>	
+
+
+
+            <h3>Load Parameters in QGroundControl</h3>	
+            <p>To load parameters:</p>	
+            <ul>	
+                <li>Go to Vehicle Settings in QGroundControl.</li>	
+                <li>Select 'Load from file' to import the parameter file.</li>	
+            </ul>	
+
+
+            <h3>Joystick Calibration</h3>	
+            <p>Calibrate your joystick as needed in X-Plane or QGroundControl.</p>	
+        </section>	
+
+        <section id="additional-tips">	
+            <h2>Additional Tips</h2>	
+            <ul>	
+                <li>Maintain a high FPS in X-Plane for stable flight.</li>	
+                <li>The EKF estimator may have limitations in high acceleration maneuvers.</li>	
+                <li>For errors: use <code>make clean</code>, <code>make distclean</code>, and rebuild PX4.</li>	
+                <li>For SITL concepts and a step-by-step guide, watch <a href="https://www.youtube.com/watch?v=iVU8ZNoMn_U" target="_blank">this YouTube Video</a>.</li>	
+                <li>For more information, visit the <a href="https://github.com/alireza787b/px4xplane" target="_blank">Official GitHub Repository</a>.</li>	
+            </ul>	
+        </section>	
+
+
+
+    </div>	
+        <footer class="footer">	
+            <p>&copy; 2023 <a href="https://www.linkedin.com/in/alireza787b/" target="_blank"> Alireza Ghaderi</a>. All rights reserved.</p>	
+            <p>For more information, visit the <a href="https://github.com/alireza787b/px4xplane" target="_blank">Official GitHub Repository</a>.</p>	
+        </footer>	
+
+</body>	
+</html>	
