Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r78c03fb021407eaf8d17dd0f74f6969443b397ce -r30f049651877229042e3f8700c8596e5b9a1e0f4
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 78c03fb021407eaf8d17dd0f74f6969443b397ce)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 30f049651877229042e3f8700c8596e5b9a1e0f4)
@@ -27,7 +27,7 @@
 
 // ********** private definitions **********
 
-/// minimum integral coefficient - cannot be zero.
+/// Minimum integral coefficient - cannot be zero.
 #define MIN_KI                      NEARLY_ZERO
 
 /// Record for PI controller.
@@ -38,15 +38,15 @@
     F32 uMax;                       ///< Maximum control signal.
     F32 uMin;                       ///< Minimum control signal.
     // -- PI's signals --
-    F32 referenceSignal;            ///< reference signal.
-    F32 measuredSignal;             ///< measured signal.
-    F32 errorSignal;                ///< reference - measured signal.
-    F32 errorSumBeforeWindUp;       ///< error signal before windup correction.
-    F32 errorSum;                   ///< error integral after windup correction.
-    F32 controlSignal;              ///< actual control signal.
+    F32 referenceSignal;            ///< Reference signal.
+    F32 measuredSignal;             ///< Measured signal.
+    F32 errorSignal;                ///< Reference - measured signal.
+    F32 errorSumBeforeWindUp;       ///< Error signal before windup correction.
+    F32 errorSum;                   ///< Error integral after windup correction.
+    F32 controlSignal;              ///< Actual control signal.
 } PI_CONTROLLER_T;
 
-#define SET_CONTROLLER( c, id )     ((c) = &piControllers[id])          ///< macro to set a local controller pointer to a given piController.
+#define SET_CONTROLLER( c, id )     ((c) = &piControllers[id])          ///< Macro to set a local controller pointer to a given piController.
 
 // ********** private data **********
 
@@ -84,7 +84,7 @@
         SET_CONTROLLER( controller, controllerID );
 
         controller->Kp = kP;
-        if ( fabs( kI ) > MIN_KI )      // ensure kI is not zero
+        if ( fabs( kI ) > MIN_KI )      // Ensure kI is not zero
         {
             controller->Ki = kI;
         }
@@ -156,15 +156,15 @@
 
         controller->referenceSignal = referenceSignal;
         controller->measuredSignal = measuredSignal;
-        // calculate error signal
+        // Calculate error signal
         controller->errorSignal = fabs( referenceSignal ) - ( referenceSignal < 0.0 ? ( measuredSignal * -1.0 ) : measuredSignal );
         controller->errorSum += controller->errorSignal;
-        // anti-windup
+        // Anti-windup
         controller->errorSumBeforeWindUp = controller->errorSum;
-        // calculate control signal
+        // Calculate control signal
         controlSignalBeforeWindup = ( controller->Kp * controller->errorSignal ) + ( controller->Ki * controller->errorSum );
         controller->controlSignal = RANGE( controlSignalBeforeWindup, controller->uMin, controller->uMax );
-        // handle anti-windup for i term
+        // Handle anti-windup for i term
         windupError = controlSignalBeforeWindup - controller->controlSignal;
         if ( fabs( windupError ) > NEARLY_ZERO )
         {
@@ -235,10 +235,10 @@
             default:
                 SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
                 break;
-        } // end of switch
+        } // End of switch
     }
     else
-    {   // invalid controller given
+    {   // Invalid controller given
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }