diff --git a/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp b/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
index f3227cf..a7a298f 100644
--- a/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
+++ b/bfs/implementations/breadcrumbs/include/AHRSInputIOProcessor.hpp
@@ -1,11 +1,25 @@
+/*
+*
+* This is the IO Processor for the Xsens MTi-630 AHRS:
+* https://www.xsens.com/products/mti-600-series
+* The AHRS is able to calculate a lot of different orientational data,
+* we are specfically using it to find the Yaw Euler Angle.
+* Currently you must manually specify which COM port the device is connected
+* to, this is right at the begining of the CreateFile() method call.
+* By defualt it is set to COM8, you may have to change it to the correct port
+* on your system. You can find the corrct port manually by opening Device Manager,
+* under "Ports(COM & LPT)" you can see the ports detected by your system.
+*/
+
 #ifndef AHRS_INPUT_IO_PROCESSOR_HPP
 #define AHRS_INPUT_IO_PROCESSOR_HPP
 
+#include <windows.h>
+#include <iostream>
+
 #include "IOProcessor.hpp"
 #include "DataSyncThread.hpp"
 #include "Attribute.hpp"
-#include <windows.h>
-#include <iostream>
 
 class AHRSInputIOProcessor : public IOProcessor
 {
@@ -15,12 +29,10 @@ class AHRSInputIOProcessor : public IOProcessor
     void loop();
     bool loopCondition();
     int configAHRS();   // Initialize the AHRS for the first time
-
 private:
     int iterations = 10;
     bool configured = false;
     HANDLE hSerial;
-
 };
 
 #endif
\ No newline at end of file
diff --git a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
index 0f3ddd2..3363a98 100644
--- a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
+++ b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
@@ -112,7 +112,6 @@ void AHRSInputIOProcessor::loop()
 	}
 
 	int index = -1;
-
 	for (int i=0; i < 32; i++)	// This gets the bytes for the Yaw angle
 	{
 		if (szBuff[i] == 0xFA && szBuff[i+1] == 0xFF && szBuff[i+2] == 0x36)
@@ -123,24 +122,13 @@ void AHRSInputIOProcessor::loop()
 	}
 
 	unsigned char yawArray[8];
-
 	if (index != -1) // This puts all those bytes 
 	{
 		for (int i=0; i < 8; i++)
 			yawArray[i] = szBuff[index + (8-i)];
-			// yawArray[0] = szBuff[index+8];
-			// yawArray[1] = szBuff[index+7];
-			// yawArray[2] = szBuff[index+6];
-			// yawArray[3] = szBuff[index+5];
-			// yawArray[4] = szBuff[index+4];
-			// yawArray[5] = szBuff[index+3];
-			// yawArray[6] = szBuff[index+2];
-			// yawArray[7] = szBuff[index+1];
 	}
+	
 	double doubleYaw = *reinterpret_cast<double * const>(yawArray);
-
-	//std::cout << "Yaw: " << doubleYaw << std::endl;
-
     Attribute attrib("yawAngle", 8, &doubleYaw);
     getComms()->sendAttribute(attrib);
     iterations--;