diff --git a/crazyflie_groundstation/loggingBlocks.txt b/crazyflie_groundstation/loggingBlocks.txt
index ce1bfd9eaacec321b854dced25da9788c2e599a3..a21c95396fea60bc6532318f341150c212b35a9c 100644
--- a/crazyflie_groundstation/loggingBlocks.txt
+++ b/crazyflie_groundstation/loggingBlocks.txt
@@ -1,3 +1,4 @@
+# angle measurement, degrees
 START BLOCK
 0
 stateEstimate
@@ -7,30 +8,44 @@ stateEstimate.pitch
 stateEstimate.yaw
 END BLOCK
 
+# rate of change of attitude, degrees/second
 START BLOCK
 1
 attitudeRate
 150
-gyro.x
-gyro.y
-gyro.z
+ctrlStdnt.r_roll
+ctrlStdnt.r_pitch
+ctrlStdnt.r_yaw
 END BLOCK
 
+# rate setpoints that are given to the crazyflie
 START BLOCK
 2
 Rate Setpoints
-200
+50
 ctrlStdnt.rollRate
 ctrlStdnt.pitchRate
 ctrlStdnt.yawRate
 END BLOCK
 
+# angle setpoints that are given to the crazyflie
 #START BLOCK
 #3
-#stabilizer
-#30
-#stabilizer.roll
-#stabilizer.pitch
-#stabilizer.yaw
+#Rate Setpoints
+#50
+#ctrlStdnt.roll
+#ctrlStdnt.pitch
+#ctrlStdnt.yaw
+#END BLOCK
+
+# output of the rate pid controller sent to the power distribution module
+#START BLOCK
+#4
+#pid output
+#100
+#ctrlStdnt.cmd_thrust
+#ctrlStdnt.cmd_roll
+#ctrlStdnt.cmd_pitch
+#ctrlStdnt.cmd_yaw
 #END BLOCK