diff --git a/positional-tracking-psmove.md b/positional-tracking-psmove.md
index 3693c20c1821fd3266b153773110e158d1acdb52..7cfc8bfe1b1b4faf793c401c3d917b7fbe682e4b 100644
--- a/positional-tracking-psmove.md
+++ b/positional-tracking-psmove.md
@@ -22,7 +22,7 @@ The PSVR is fully set up after calibrating the camera. The Playstation Move cont
 
 ## PS4 camera: firmware
 
-By default the ps4 camera does not work as a camera, a firmware file has to be loaded onto the device first. This procedure has to be done every time the camera is plugged in or the system is rebooted, though it can be automated with an udev rule.
+By default the ps4 camera does not work as a camera, a firmware file has to be loaded onto the device first.
 
 Download the firmware upload script, and a `firmware.bin` file to the same directory. The `firmware.bin` file used here with md5sum `99ca1e97ea2bb9edaf4c6f511292b4e2` comes with uvc support and has been tested with Monado.
 
@@ -39,6 +39,16 @@ The camera should now work with standard UVC tools like `guvcview`. In Video Con
 
 If the camera does not show up, or guvcview can not produce images, try a different USB port/host controller and especially without a USB hub. The ps4 camera is known to not work on all USB controllers and hubs.
 
+
+The script has to be run every time the camera is plugged in or the system is rebooted.
+
+To automate loading the firmware when the camera is plugged in, create an udev rule file `/etc/udev/rules.d/91-ps4.rules` with the content
+```
+ACTION=="add",SUBSYSTEMS=="usb",ATTRS{idProduct}=="0580",ATTRS{idVendor}=="05a9",RUN+="/usr/local/opt/ps4eye/ps4eye_init.py"
+````
+
+Adjust the path `/usr/local/opt/ps4eye/ps4eye_init.py` to where you stored the script and the firmware.
+
 ## Calibrating the camera with monado
 
 Currently Monado only supports interactive calibration with a checkerboard pattern. In the future a calibration file will be distributed with monado and calibration will be simplified, perhaps even unnecessary.