diff --git a/matlab/generated/README.md b/matlab/generated/README.md
index 9ba1d8cd56..d9df3f66e5 100644
--- a/matlab/generated/README.md
+++ b/matlab/generated/README.md
@@ -1,3 +1,5 @@
 # Generated Code
 
-This directory contains generated code from Matlab files.
+These directories contains code generated using the derivation script files that has been 'cleaned up'.
+
+Inertia Nav EKF: contains code generated by GenerateNavFilterEquations.m
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