diff --git a/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp b/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
index a7a298f..728b646 100644
--- a/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
+++ b/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
@@ -35,4 +35,4 @@ class AHRSInputIOProcessor : public IOProcessor
     HANDLE hSerial;
 };
 
-#endif
\ No newline at end of file
+#endif
diff --git a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
index 3363a98..5f52fdc 100644
--- a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
+++ b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
@@ -1,11 +1,21 @@
 #include "AHRSInputIOProcessor.hpp"
 
 
+/*
+ * Return Values:
+ * 0 : No Errors.
+ * 1 : Serial port does not exist.
+ * 2 : Some other error occurred.
+ * 3 : Error getting state.
+ * 4 : Error setting serial port state
+ * 5 : Error occured while setting timoemouts.
+ * 6 : Error occured while trying to send GoToConfig message.
+ * 7 : Error occured while trying to send SetOutputConfiguration message.
+ * 8 : Error occured while trying to send GoToMeasurment message.
+*/
+
 int AHRSInputIOProcessor::configAHRS()
 {
-    DCB dcb = {0};
-	//HANDLE hSerial;
-	
 	hSerial = CreateFile("COM8",						// The COM port to connect to, may have to be changed
 						  GENERIC_READ | GENERIC_WRITE,	// depending on what COM port gets selected.
 						  0,
@@ -18,19 +28,20 @@ int AHRSInputIOProcessor::configAHRS()
 	{
 		if(GetLastError() == ERROR_FILE_NOT_FOUND)
 		{
-			std::cout << "Serial port does not exist." << std::endl;
-			return 1; 	// serial port does not exist.
+			std::cerr << "Serial port does not exist." << std::endl;
+			return 1;
 		}
-		std::cout << "Some other error occurred." << std::endl;
-		return 2; 		// some other error occurred.
+		std::cerr << "Some other error occurred." << std::endl;
+		return 2;
 	}
-	
+
+	DCB dcb = { 0 };
 	dcb.DCBlength = sizeof(dcb);
 	
 	if (!GetCommState(hSerial, &dcb))
 	{
-		std::cout << "Error getting state." << std::endl;
-		return 3;		// error getting state.
+		std::cerr << "Error getting state." << std::endl;
+		return 3;
 	}
 	
 	dcb.BaudRate = CBR_115200; // defualt baud rate of MT
@@ -40,8 +51,8 @@ int AHRSInputIOProcessor::configAHRS()
 	
 	if (!SetCommState(hSerial, &dcb))
 	{
-		std::cout << "Error setting serial port state." << std::endl;
-		return 4; 		// error setting serial port state
+		std::cerr << "Error setting serial port state." << std::endl;
+		return 4;
 	}
 	
 	COMMTIMEOUTS timeouts = {0};
@@ -54,7 +65,7 @@ int AHRSInputIOProcessor::configAHRS()
 
 	if (!SetCommTimeouts(hSerial, &timeouts))
 	{
-		std::cout << "Error occured while setting timoemouts." << std::endl;
+		std::cerr << "Error occured while setting timoemouts." << std::endl;
 		return 5;
 	}
 
@@ -66,7 +77,7 @@ int AHRSInputIOProcessor::configAHRS()
 
 	if (!WriteFile(hSerial, wBuff1, 6, &dwBytesWritten, NULL))
 	{
-		std::cout << "Error occured while trying to send GoToConfig message." << std::endl;
+		std::cerr << "Error occured while trying to send GoToConfig message." << std::endl;
 		return 6;
 	}
 
@@ -75,7 +86,7 @@ int AHRSInputIOProcessor::configAHRS()
 
 	if (!WriteFile(hSerial, wBuff2, 10, &dwBytesWritten, NULL))
 	{
-		std::cout << "Error occured while trying to send SetOutputConfiguration message." << std::endl;
+		std::cerr << "Error occured while trying to send SetOutputConfiguration message." << std::endl;
 		return 7;
 	}
 
@@ -84,7 +95,7 @@ int AHRSInputIOProcessor::configAHRS()
 
 	if (!WriteFile(hSerial, wBuff3, 6, &dwBytesWritten, NULL))
 	{
-		std::cout << "Error occured while trying to send GoToMeasurment message." << std::endl;
+		std::cerr << "Error occured while trying to send GoToMeasurment message." << std::endl;
 		return 8;
 	}
     
@@ -94,7 +105,7 @@ int AHRSInputIOProcessor::configAHRS()
 
 bool AHRSInputIOProcessor::loopCondition()
 {
-    return iterations > 0;
+    return true;
 }
 
 void AHRSInputIOProcessor::loop()
@@ -107,8 +118,7 @@ void AHRSInputIOProcessor::loop()
 
 	if (!ReadFile(hSerial, szBuff, 64, &dwBytesRead, NULL))
 	{
-		std::cout << "Error occured while trying to read bytes." << std::endl;
-		//return 9;
+		std::cerr << "Error occured while trying to read bytes." << std::endl;
 	}
 
 	int index = -1;
@@ -131,8 +141,7 @@ void AHRSInputIOProcessor::loop()
 	double doubleYaw = *reinterpret_cast<double * const>(yawArray);
     Attribute attrib("yawAngle", 8, &doubleYaw);
     getComms()->sendAttribute(attrib);
-    iterations--;
 
-    if (iterations == 0)
-        CloseHandle(hSerial);
+	// I am not sure if it will close autimatically when the process ends, at the moment I guess we just won't close it...
+    //CloseHandle(hSerial);
 }
\ No newline at end of file