Index: firmware/App/Controllers/Pressures.c
===================================================================
diff -u -r16dfbeeca1bcf1d2115c2f7549999fdaae0700e9 -r65cca9d3650f1da299e0c0c682bc557439a407f2
--- firmware/App/Controllers/Pressures.c	(.../Pressures.c)	(revision 16dfbeeca1bcf1d2115c2f7549999fdaae0700e9)
+++ firmware/App/Controllers/Pressures.c	(.../Pressures.c)	(revision 65cca9d3650f1da299e0c0c682bc557439a407f2)
@@ -58,7 +58,7 @@
 static PRESSURE_STATE_T pressuresState = PRESSURE_INIT_STATE;                   ///< current state of pressure monitor state machine.
 static U32 pressuresDataPublicationTimerCounter = 0;                            ///< used to schedule pressure data publication to CAN bus.
 
-static OVERRIDE_U32_T pressuresDataPublishInterval = { PRESSURES_DATA_PUB_INTERVAL, PRESSURES_DATA_PUB_INTERVAL, 0, 0 }; ///< interval (in ms) at which to publish pressures data to CAN bus.
+static OVERRIDE_U32_T pressuresDataPublishInterval = { PRESSURES_DATA_PUB_INTERVAL, PRESSURES_DATA_PUB_INTERVAL, 0, 0 }; ///< interval (in ms/task interval) at which to publish pressures data to CAN bus.
 static OVERRIDE_F32_T pressures[ NUM_OF_PRESSURE_SENSORS ];                     ///< Measured weight from load cells.
 
 static PRESSURE_SELF_TEST_STATE_T pressuresSelfTestState = PRESSURE_SELF_TEST_STATE_START;  ///< current pressure self test state.
Index: firmware/App/Services/Reservoirs.c
===================================================================
diff -u -r5ff39fd6948ae3656b4035c85325bd8fca0a37f3 -r65cca9d3650f1da299e0c0c682bc557439a407f2
--- firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision 5ff39fd6948ae3656b4035c85325bd8fca0a37f3)
+++ firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision 65cca9d3650f1da299e0c0c682bc557439a407f2)
@@ -56,7 +56,6 @@
  * @details
  * Inputs : none
  * Outputs : Reservoirs module initialized.
- * @param none
  * @return none
  *************************************************************************/
 void initReservoirs( void )
@@ -66,6 +65,14 @@
     drainVolumeTargetMl.data = DEFAULT_DRAIN_VOLUME_ML;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The execReservoirs function manages periodic tasks for the Reservoirs module.
+ * @details
+ * Inputs : none
+ * Outputs : Reservoir data broadcast on interval.
+ * @return none
+ *************************************************************************/
 void execReservoirs( void )
 {
     // TODO - publish active reservoir, fill/drain volume targets at 1 Hz.
@@ -79,6 +86,16 @@
     }
 }
 
+/*********************************************************************//**
+ * @brief
+ * The setActiveReservoir function sets the given reservoir as active \n
+ * (meaning HD will be drawing from this reservoir).
+ * @details
+ * Inputs : none
+ * Outputs : Specified reservoir is set as active.
+ * @param resID : ID of reservoir to set as active.
+ * @return TRUE if set active reservoir command successful, FALSE if not.
+ *************************************************************************/
 BOOL setActiveReservoir( RESERVOIR_ID_T resID )
 {
     BOOL result = FALSE;
@@ -139,6 +156,7 @@
     // stop fill command only valid in fill mode
     if ( MODE_FILL == getCurrentOperationMode() )
     {
+        fillVolumeTargetMl.data = 0;
         requestNewOperationMode( MODE_CIRC );
     }
 
@@ -187,6 +205,7 @@
     // stop drain command only valid in drain mode
     if ( MODE_DRAI == getCurrentOperationMode() )
     {
+        drainVolumeTargetMl.data = 0;
         requestNewOperationMode( MODE_CIRC );
     }
 
Index: firmware/App/Services/SystemCommMessages.c
===================================================================
diff -u -r5ff39fd6948ae3656b4035c85325bd8fca0a37f3 -r65cca9d3650f1da299e0c0c682bc557439a407f2
--- firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision 5ff39fd6948ae3656b4035c85325bd8fca0a37f3)
+++ firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision 65cca9d3650f1da299e0c0c682bc557439a407f2)
@@ -246,7 +246,7 @@
 }
 
 // ***********************************************************************
-// ********************* MSG_ID_OFF_BUTTON_PRESS *************************
+// ***************** Message Sending Helper Functions ********************
 // ***********************************************************************
 
 /*************************************************************************
@@ -513,7 +513,17 @@
     return result;
 }
 
-// MSG_ID_DG_RESERVOIR_DATA
+/*************************************************************************
+ * @brief
+ * The broadcastReservoirData function broadcasts the DG reservoir data.
+ * @details
+ * Inputs : none
+ * Outputs : Reservoir data msg constructed and queued
+ * @param resID : ID of currently active reservoir.
+ * @param fillToVol : Current target fill to volume for inactive reservoir.
+ * @param drainToVol : Current target drain to volume for inactive reservoir.
+ * @return TRUE if msg successfully queued for transmit, FALSE if not
+ *************************************************************************/
 BOOL broadcastReservoirData( U32 resID, U32 fillToVol, U32 drainToVol )
 {
     BOOL result;
@@ -538,6 +548,10 @@
     return result;
 }
 
+// ***********************************************************************
+// **************** Message Handling Helper Functions ********************
+// ***********************************************************************
+
 /*************************************************************************
  * @brief
  * The handlePowerOffWarning function handles a power off warning message \n