diff --git a/README.md b/README.md
index 316e041..794d867 100644
--- a/README.md
+++ b/README.md
@@ -155,7 +155,8 @@ these should be handled by `tls:` section in Ingress.
 
 ## Cluster formation
 
-Create Ubuntu 20.04 VM-s on Proxmox with local storage.
+Created Ubuntu 22.04 VM-s on Proxmox with local storage.
+Added some ARM64 workers by using Ubuntu 22.04 server on Raspberry Pi.
 
 After machines have booted up and you can reach them via SSH:
 
@@ -193,14 +194,8 @@ nameserver 8.8.8.8
 EOF
 
 # Disable multipathd as Longhorn handles that itself
-systemctl mask multipathd
-systemctl disable multipathd
-systemctl stop multipathd
-
-# Disable Snapcraft
-systemctl mask snapd
-systemctl disable snapd
-systemctl stop snapd
+systemctl mask multipathd snapd
+systemctl disable --now multipathd snapd bluetooth ModemManager hciuart wpa_supplicant packagekit
 
 # Permit root login
 sed -i -e 's/PermitRootLogin no/PermitRootLogin without-password/' /etc/ssh/sshd_config
@@ -209,16 +204,15 @@ cat << EOF > /root/.ssh/authorized_keys
 sk-ecdsa-sha2-nistp256@openssh.com AAAAInNrLWVjZHNhLXNoYTItbmlzdHAyNTZAb3BlbnNzaC5jb20AAAAIbmlzdHAyNTYAAABBBD4/e9SWYWYoNZMkkF+NirhbmHuUgjoCap42kAq0pLIXFwIqgVTCre03VPoChIwBClc8RspLKqr5W3j0fG8QwnQAAAAEc3NoOg== lauri@lauri-x13
 EOF
 userdel -f ubuntu
-apt-get remove -yq cloud-init
-
-
+apt-get install -yqq linux-image-generic
+apt-get remove -yq cloud-init linux-image-*-kvm
 ```
 
-Install packages, for Raspbian set `OS=Debian_11`
+Install packages:
 
 ```bash
-OS=xUbuntu_20.04
-VERSION=1.23
+OS=xUbuntu_22.04
+VERSION=1.24
 cat <<EOF | sudo tee /etc/apt/sources.list.d/devel:kubic:libcontainers:stable.list
 deb https://download.opensuse.org/repositories/devel:/kubic:/libcontainers:/stable/$OS/ /
 EOF
@@ -232,11 +226,10 @@ curl -s https://packages.cloud.google.com/apt/doc/apt-key.gpg | sudo apt-key add
 echo "deb https://apt.kubernetes.io/ kubernetes-xenial main" > /etc/apt/sources.list.d/kubernetes.list
 
 apt-get update
-apt-get install -yqq apt-transport-https curl cri-o cri-o-runc kubelet=1.23.5-00 kubectl=1.23.5-00 kubeadm=1.23.5-00
+apt-get install -yqq apt-transport-https curl cri-o cri-o-runc kubelet=1.24.8-00 kubectl=1.24.8-00 kubeadm=1.24.8-00
 sudo systemctl daemon-reload
 sudo systemctl enable crio --now
 apt-mark hold kubelet kubeadm kubectl
-sed -i -e 's/unqualified-search-registries = .*/unqualified-search-registries = ["docker.io"]/' /etc/containers/registries.conf
 ```
 
 On master:
@@ -254,7 +247,7 @@ for j in $(seq 1 9); do
   kubectl label nodes worker${j}.kube.k-space.ee node-role.kubernetes.io/worker=''
 done
 
-for j in $(seq 1 3); do
+for j in $(seq 1 4); do
   kubectl taint nodes mon${j}.kube.k-space.ee dedicated=monitoring:NoSchedule
   kubectl label nodes mon${j}.kube.k-space.ee dedicated=monitoring
 done
@@ -265,15 +258,26 @@ for j in $(seq 1 4); do
 done
 ```
 
-On Raspberry Pi you need to take additonal steps:
-
-* Manually enable cgroups by appending
-  `cgroup_memory=1 cgroup_enable=memory` to `/boot/cmdline.txt`,
-* Disable swap with `swapoff -a; apt-get purge -y dphys-swapfile`
-* For mounting Longhorn volumes on Rasbian install `open-iscsi`
-
 For `arm64` nodes add suitable taint to prevent scheduling non-multiarch images on them:
 
 ```bash
 kubectl taint nodes worker9.kube.k-space.ee arch=arm64:NoSchedule
 ```
+
+For door controllers:
+
+```
+for j in ground front back; do
+  kubectl taint nodes door-${j}.kube.k-space.ee dedicated=door:NoSchedule
+  kubectl label nodes door-${j}.kube.k-space.ee dedicated=door
+  kubectl taint nodes door-${j}.kube.k-space.ee arch=arm64:NoSchedule
+done
+```
+
+To reduce wear on storage:
+
+```
+echo StandardOutput=null >> /etc/systemd/system/kubelet.service.d/10-kubeadm.conf
+systemctl daemon-reload
+systemctl restart kubelet
+```