diff --git a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
index 0a8b3f5..69bb90d 100644
--- a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
+++ b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
@@ -12,7 +12,6 @@
  * 7 : Error occured while trying to send SetOutputConfiguration message.
  * 8 : Error occured while trying to send GoToMeasurment message.
 */
-
 int AHRSInputIOProcessor::configAHRS()
 {
     hSerial = CreateFile("COM8",						// The COM port to connect to, may have to be changed
@@ -71,7 +70,9 @@ int AHRSInputIOProcessor::configAHRS()
     std::cout << "Connection established!" << std::endl;
     std::cout << "Setting up Config..." << std::endl;
 
-    unsigned char wBuff1[] = {0xFA,0xFF,0x30,0x00,0xD1}; // This is the GoToConfig message
+	// This is the GoToConfig message, MID 48
+	// Switch the active state of the device from Measurment State to Config State.
+    unsigned char wBuff1[] = {0xFA,0xFF,0x30,0x00,0xD1};
     DWORD dwBytesWritten = 0; // Number of bytes actually written
 
     if (!WriteFile(hSerial, wBuff1, 6, &dwBytesWritten, NULL))
@@ -79,8 +80,10 @@ int AHRSInputIOProcessor::configAHRS()
         std::cerr << "Error occured while trying to send GoToConfig message." << std::endl;
         return 6;
     }
-
-    unsigned char wBuff2[] = {0xFA,0xFF,0xC0,0x04,0x20,0x33,0x00,0x00,0xEA};	// This is the SetOutputConfiguration message
+	
+	// This is the SetOutputConfiguration message, MID 192
+	// Set the output configuration of the device.
+    unsigned char wBuff2[] = {0xFA,0xFF,0xC0,0x04,0x20,0x33,0x00,0x00,0xEA};
     dwBytesWritten = 0;
 
     if (!WriteFile(hSerial, wBuff2, 10, &dwBytesWritten, NULL))
@@ -88,8 +91,10 @@ int AHRSInputIOProcessor::configAHRS()
         std::cerr << "Error occured while trying to send SetOutputConfiguration message." << std::endl;
         return 7;
     }
-
-    unsigned char wBuff3[] = {0xFA,0xFF,0x10,0x00,0xF1};	// This is the GoToMeasurment message
+	
+	// This is the GoToMeasurment message, MID 16
+	// Switch the active state of the device from Config State to Measurment State.
+    unsigned char wBuff3[] = {0xFA,0xFF,0x10,0x00,0xF1};
     dwBytesWritten = 0;
 
     if (!WriteFile(hSerial, wBuff3, 6, &dwBytesWritten, NULL))