diff --git a/src/modules/src/controller/controller_pid.c b/src/modules/src/controller/controller_pid.c
index b91543ce5..cd2d0ab10 100644
--- a/src/modules/src/controller/controller_pid.c
+++ b/src/modules/src/controller/controller_pid.c
@@ -155,7 +155,7 @@ void controllerPid(control_t *control, const setpoint_t *setpoint,
     cmd_yaw = control->yaw;
 
     attitudeControllerResetAllPID(state->attitude.roll, state->attitude.pitch, state->attitude.yaw);
-		positionControllerResetAllPID(state->position.x, state->position.y, state->position.z);
+    positionControllerResetAllPID(state->position.x, state->position.y, state->position.z);
 
     // Reset the calculated YAW angle for rate control
     attitudeDesired.yaw = state->attitude.yaw;
diff --git a/src/utils/src/pid.c b/src/utils/src/pid.c
index f97b8b017..b1b5cbff8 100644
--- a/src/utils/src/pid.c
+++ b/src/utils/src/pid.c
@@ -80,6 +80,7 @@ float pidUpdate(PidObject* pid, const float measured, const bool isYawAngle)
   */
   float delta = -(measured - pid->prevMeasured);
 
+  // For yaw measurements, take care of spikes when crossing 180deg <-> -180deg  
   if (isYawAngle){
     if (delta > 180.0f){
       delta -= 360.0f;