diff --git a/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp b/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
index 97d268d..dde9ca8 100644
--- a/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
+++ b/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
@@ -14,8 +14,6 @@
 #ifndef AHRS_INPUT_IO_PROCESSOR_HPP
 #define AHRS_INPUT_IO_PROCESSOR_HPP
 
-
-
 #include "IOProcessor.hpp"
 #include "DataSyncThread.hpp"
 #include "Attribute.hpp"
diff --git a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
index 6201ab1..7aeccff 100644
--- a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
+++ b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
@@ -1,6 +1,5 @@
 #include "AHRSInputIOProcessor.hpp"
 
-
 /*
  * Return Values:
  * 0 : No Errors.
@@ -121,8 +120,26 @@ void AHRSInputIOProcessor::loop()
         std::cerr << "Error occured while trying to read bytes." << std::endl;
     }
 
+    /* This gets the index of the bytes for the Euler angles in captured buffer.
+     * The 22 index of the message is where the last byte of the pitch angle is.
+     * It finds the first byte of the message and then finds where the data is.
+     * This allows me loop backward through each group of bytes since the order
+     * needs to be reversed because the AHRS is in Big Endian.
+     *
+     * MESSAGE STRUCTURE:
+     * Roll Angle Bytes = RX, Pitch Angle Bytes = PX, Yaw Angle Bytes = YX
+     *     +-------------------------+-------------------------+-------------------------+
+     *     |          Roll           |          Pitch          |           Yaw           |
+     *     +-------------------------+-------------------------+-------------------------+
+     *     | R1 R2 R3 R4 R5 R6 R7 R8 | P1 P2 P3 P4 P5 P6 P7 P8 | Y1 Y2 Y3 Y4 Y5 Y6 Y7 Y8 |
+     *     +-------------------------+-------------------------+-------------------------+
+     * ... | 7  8  9  10 11 12 13 14 | 15 16 17 18 19 20 21 22 | 23 24 25 26 27 28 29 30 | ...
+     *     |                         |                      ^  |                         |
+     *     |                         |                    Index|                         |
+     *     +-------------------------+-------------------------+-------------------------+
+    */ 
     int index = -1;
-    for (int i=0; i < 32; i++)	// This gets the bytes for the Yaw angle
+    for (int i=0; i < 32; i++)
     {
         if (szBuff[i] == 0xFA && szBuff[i+1] == 0xFF && szBuff[i+2] == 0x36)
         {
@@ -134,7 +151,8 @@ void AHRSInputIOProcessor::loop()
     unsigned char rollArray[8];
     unsigned char pitchArray[8];
     unsigned char yawArray[8];
-    if (index != -1) // This puts all those bytes 
+    // Puts the bytes for each angle in their own array backwards, since they are sent in big endian
+    if (index != -1)
     {
         for (int i = 0; i < 8; i++)
         {
@@ -153,7 +171,4 @@ void AHRSInputIOProcessor::loop()
     getComms()->sendAttribute(attPitch);
     Attribute attYaw("yawAngle", 8, &doubleYaw);
     getComms()->sendAttribute(attYaw);
-
-    // 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);
 }