diff --git a/README.md b/README.md
index 9ff81956..a7beb0cb 100644
--- a/README.md
+++ b/README.md
@@ -63,8 +63,7 @@ Docker container, and then start the mission.
 
 ## Simulate GPS failure
 
-Wait until the drone has risen to its final mission altitude. You should see a visualization of the GISNav-estimated
-field of view projected on the ground appear. You can then try disabling GPS through your [MAVLink Shell][5]
+Wait until the drone has risen to its final mission altitude. You can then try disabling GPS through your [MAVLink Shell][5]
 *(accessible e.g. through QGroundControl > Analyze Tools > MAVLink Console)*:
 
 ```
diff --git a/docs/vitepress/docs/gisnav-cli.md b/docs/vitepress/docs/gisnav-cli.md
index 6bcc689e..b8752532 100644
--- a/docs/vitepress/docs/gisnav-cli.md
+++ b/docs/vitepress/docs/gisnav-cli.md
@@ -44,13 +44,14 @@ gnc start px4 gisnav
 Start simulation on `localhost`, and `gisnav` on `jetsonnano.local`:
 
 ::: info Companion computer hostname
-The `GISNAV_COMPANION_HOST` environment variable is set below to tell the `px4` service where to find the middleware. `gnc` does not set these automatically and assumes the defaults from the `docker/.env` file.
+The `GISNAV_COMPANION_HOST` environment variable is set below to tell the `px4` service where to find the middleware. `gnc` does not set these automatically and assumes the defaults from the `docker/.env` file. We need to set the environment variable before we create the containers.
 
 :::
 
 ```bash
 companion_host=jetsonnano.local
 export GISNAV_COMPANION_HOST=$companion_host
+gnc create px4 gisnav@$companion_host
 gnc start px4 gisnav@$companion_host
 ```
 
diff --git a/docs/vitepress/docs/glossary.md b/docs/vitepress/docs/glossary.md
index 67c93f8a..98e8416a 100644
--- a/docs/vitepress/docs/glossary.md
+++ b/docs/vitepress/docs/glossary.md
@@ -284,7 +284,7 @@ Used to refer to the [vehicle](#vehicle), typically in a [ROS](#ros-ros-2) conte
 
 ### Rotation
 
-Most likely rotation of the [reference raster](#reference-reference-image-reference-raster) when aligning it with the [vehicle](#heading). This is done in [pose](#pose) estimation because the neural [networks](#network) are not assumed to be rotation agnostic.
+Most likely rotation of the [reference raster](#reference-reference-image-reference-raster) when aligning it with the [FOV](#fov--fov). This is done in [pose](#pose) estimation because the neural [networks](#network) are not assumed to be rotation agnostic.
 
 ### Service
 - A [Docker Compose](#docker-compose) service
@@ -292,7 +292,7 @@ Most likely rotation of the [reference raster](#reference-reference-image-refere
 - A [systemd](#systemd) service
 
 ### Service orchestration
-Deploying and managing [Docker Compose](#docker-compose) [services](#service) that constitute a GISNav [deployment](#deploy-deployment). Currently done using [Make](#make-make) (Makefiles).
+Deploying and managing [Docker Compose](#docker-compose) [services](#service), potentially on multiple hosts, that constitute a GISNav [deployment](#deploy-deployment).
 
 ### Simulation host
 Computer that hosts the (Gazebo) simulation world. Typically a more powerful server, or a desktop or laptop personal computer.
@@ -712,7 +712,7 @@ An open source machine learning software library: [torch.ch](http://torch.ch/)
 Python machine learning library based on Torch: [pytorch.org](https://pytorch.org/)
 
 ### UBX
-Communication protocol (form u-blox) for GPS receivers
+Communication protocol (from u-blox) for GPS receivers
 
 ### Ubuntu
 A Linux distribution, only supported OS for GISNav: [ubuntu.com](https://ubuntu.com/)
diff --git a/docs/vitepress/docs/sitl-remote.md b/docs/vitepress/docs/sitl-remote.md
index 4734b83d..174bec66 100644
--- a/docs/vitepress/docs/sitl-remote.md
+++ b/docs/vitepress/docs/sitl-remote.md
@@ -25,7 +25,7 @@ This page describes how to run the [SITL simulation](/sitl-local) with GISNav ru
 Prepare the containers for the SITL simulation environment by running the following command on your simulation host.
 
 ```bash
-gnc create --build px4 gisnav@jetsonnano.local
+GISNAV_COMPANION_HOST=jetsonnano.local gnc create --build px4 gisnav@jetsonnano.local
 ```
 
 Start your simulation:
@@ -33,5 +33,5 @@ Start your simulation:
 <!--@include: ./shared/slow-gazebo-startup-on-first-run.md-->
 
 ```bash
-GISNAV_COMPANION_HOST=jetsonnano.local gnc start px4 gisnav@jetsonnano.local
+gnc start px4 gisnav@jetsonnano.local
 ```
diff --git a/docs/vitepress/docs/system-architecture.md b/docs/vitepress/docs/system-architecture.md
index f27c7767..65a436cb 100644
--- a/docs/vitepress/docs/system-architecture.md
+++ b/docs/vitepress/docs/system-architecture.md
@@ -51,12 +51,14 @@ graph TB
     PoseNode -->|"geometry_msgs/PoseWithCovarianceStamped\n(global pose, map frame)"| ekf_global_node
     UORBNode -->|"px4_msgs/SensorGps"| micro_ros_agent[" "]
     UBXNode -->|"ublox_msgs/NavPVT"| ubx[" "]
+    NMEANode -->|"nmea_msgs/Sentence"| nmea[" "]
 
     ekf_global_node -->|"nav_msgs/TransformStamped\n(map->odom)"| tf
     ekf_local_node -->|"nav_msgs/TransformStamped\n(odom->base_link)"| tf
 
     style micro_ros_agent fill-opacity:0, stroke-opacity:0;
     style ubx fill-opacity:0, stroke-opacity:0;
+    style nmea fill-opacity:0, stroke-opacity:0;
     style tf fill-opacity:0, stroke-width:1px,stroke-dasharray:3;
     style odometry fill-opacity:0, stroke-width:1px,stroke-dasharray:3;
 
@@ -166,7 +168,6 @@ graph TB
             end
         end
     end
-    simulation_px4 ----->|"/dev/ttyS4 (px4 GPS 2)\ntcp:15000 (socat bridge)\n/dev/ttyS1 (gisnav NMEA)"| application_gisnav
 
     browser["Web browser"] -->|"80/http\n(443/https not currently supported)"| nginx