diff --git a/flight/modules/Attitude/revolution/attitude.c b/flight/modules/Attitude/revolution/attitude.c
index f608ce442..c955e25ed 100644
--- a/flight/modules/Attitude/revolution/attitude.c
+++ b/flight/modules/Attitude/revolution/attitude.c
@@ -412,7 +412,8 @@ static int32_t updateAttitudeComplementary(bool first_run)
 
     if ((xTaskGetTickCount() - initStartupTime < CALIBRATION_DURATION + CALIBRATION_DELAY) &&
         (xTaskGetTickCount() - initStartupTime > CALIBRATION_DELAY)) {
-        // For first 7 seconds use accels to get gyro bias
+        // For first CALIBRATION_DURATION seconds after CALIBRATION_DELAY from startup
+        // Zero gyro bias assuming it is steady, smoothing the gyro input value applying rollPitchBiasRate.
         attitudeSettings.AccelKp     = 1.0f;
         attitudeSettings.AccelKi     = 0.0f;
         attitudeSettings.YawBiasRate = 0.23f;
diff --git a/flight/modules/System/systemmod.c b/flight/modules/System/systemmod.c
index 4873a7877..42664128d 100644
--- a/flight/modules/System/systemmod.c
+++ b/flight/modules/System/systemmod.c
@@ -167,7 +167,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
 {
     /* start the delayed callback scheduler */
     CallbackSchedulerStart();
-    static uint8_t cycleCount;
+    uint8_t cycleCount;
     /* create all modules thread */
     MODULE_TASKCREATE_ALL;
 
@@ -237,8 +237,8 @@ static void systemTask(__attribute__((unused)) void *parameters)
 #if defined(PIOS_LED_ALARM)
         if (AlarmsHasCritical()) {
             PIOS_LED_On(PIOS_LED_ALARM);
-        } else if( (AlarmsHasErrors() && (cycleCount & 0x1)) ||
-                (!AlarmsHasErrors() && AlarmsHasWarnings() && (cycleCount & 0x4))){
+        } else if ((AlarmsHasErrors() && (cycleCount & 0x1)) ||
+                   (!AlarmsHasErrors() && AlarmsHasWarnings() && (cycleCount & 0x4))) {
             PIOS_LED_On(PIOS_LED_ALARM);
         } else {
             PIOS_LED_Off(PIOS_LED_ALARM);