diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h
index 1b225110cedfba7dad86400d956a89101cfe3b49..2f065cd236422ff752f967a85667f6c7b0fb6c6c 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/stabilizer_types.h
@@ -160,11 +160,14 @@ typedef struct sensorData_s {
 } sensorData_t;
 
 typedef struct state_s {
-  attitude_t attitude;      // deg (legacy CF2 body coordinate system, where pitch is inverted)
+  attitude_t attitude;      // deg (legacy CF2 body 
+                            // coordinate system, 
+                            // where pitch is inverted)
   quaternion_t attitudeQuaternion;
   point_t position;         // m
   velocity_t velocity;      // m/s
-  acc_t acc;                // Gs (but acc.z without considering gravity)
+  acc_t acc;                // Gs (but acc.z without
+                            // considering gravity)
 } state_t;
 
 typedef struct control_s {
@@ -186,11 +189,14 @@ typedef struct setpoint_s {
   attitude_t attitude;      // deg
   attitude_t attitudeRate;  // deg/s
   quaternion_t attitudeQuaternion;
-  float thrust;
+  float thrust;             // 0 - 60,000
   point_t position;         // m
   velocity_t velocity;      // m/s
   acc_t acceleration;       // m/s^2
-  bool velocity_body;       // true if velocity is given in body frame; false if velocity is given in world frame
+  bool velocity_body;       // true if velocity 
+                            //is given in body frame;
+                            // false if velocity is
+                            // given in world frame
 
   struct {
     stab_mode_t x;