diff --git a/.pydevproject b/.pydevproject
new file mode 100644
index 000000000..40e9f40a0
--- /dev/null
+++ b/.pydevproject
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?eclipse-pydev version="1.0"?><pydev_project>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
+</pydev_project>
diff --git a/flight/pios/inc/pios_instrumentation.h b/flight/pios/inc/pios_instrumentation.h
index 1926cc734..8c1667d71 100644
--- a/flight/pios/inc/pios_instrumentation.h
+++ b/flight/pios/inc/pios_instrumentation.h
@@ -44,7 +44,7 @@ extern int8_t pios_instrumentation_last_used_counter;
 
 /**
  * Update a counter with a new value
- * @param counterIdx index of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
+ * @param counter_handle handle of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
  * @param newValue the updated value.
  */
 inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, int32_t newValue)
@@ -65,7 +65,7 @@ inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, in
 
 /**
  * Used to determine the time duration of a code block, mark the begin of the block. @see PIOS_Instrumentation_TimeEnd
- * @param counterIdx counterIdx index of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
+ * @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
  */
 inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
 {
@@ -79,7 +79,7 @@ inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
 
 /**
  * Used to determine the time duration of a code block, mark the end of the block. @see PIOS_Instrumentation_TimeStart
- * @param counterIdx counterIdx index of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
+ * @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
  */
 inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
 {
@@ -100,7 +100,7 @@ inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
 
 /**
  * Used to determine the mean period between each call to the function
- * @param counterIdx counterIdx index of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
+ * @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
  */
 inline void PIOS_Instrumentation_TrackPeriod(pios_counter_t counter_handle)
 {
@@ -129,15 +129,16 @@ void PIOS_Instrumentation_Init(int8_t maxCounters);
 
 /**
  * Create a new counter.
- * @param id the unique id to assig to the counter
- * @return the counter index to be used to manage its content
+ * @param id the unique id to assign to the counter
+ * @return the counter handle to be used to manage its content
  */
 pios_counter_t PIOS_Instrumentation_CreateCounter(uint32_t id);
 
 /**
  * search a counter index by its unique Id
- * @param id the unique id to assig to the counter
- * @return the counter index to be used to manage its content
+ * @param id the unique id to assign to the counter.
+ * If a counter with the same id exists, the previous instance is returned
+ * @return the counter handle to be used to manage its content
  */
 pios_counter_t PIOS_Instrumentation_SearchCounter(uint32_t id);
 
diff --git a/flight/pios/inc/pios_instrumentation_helper.h b/flight/pios/inc/pios_instrumentation_helper.h
index 2ca62a845..43f3d2ff2 100644
--- a/flight/pios/inc/pios_instrumentation_helper.h
+++ b/flight/pios/inc/pios_instrumentation_helper.h
@@ -30,50 +30,50 @@
  */
 
 /**
-* \par
-* This is a collections of helper macros that ease adding instrumentation support.
-* \par
-* Step by step guide:
-*
-* Define PIOS_INSTRUMENT_MODULE before including this file to enable instrumentation for a module
-*
-* <pre>#define PIOS_INSTRUMENT_MODULE
-* #include <pios_instrumentation_helper.h></pre>
-*
-* Declare the variables used to hold counter handlers.
-* Place the following code along all module variables declaration.
-* <pre>PERF_DEFINE_COUNTER(counterUpd);
-* PERF_DEFINE_COUNTER(counterAccelSamples);
-* PERF_DEFINE_COUNTER(counterPeriod);
-* PERF_DEFINE_COUNTER(counterAtt);</pre>
-*
-* Counters needs to be initialized before they are used.
-* The following code needs to be added to a function called at module initialization.
-* the second parameter is a unique counter Id.
-* A good pracice is to use the upper half word as module id and lower as counter id
-* <pre>PERF_INIT_COUNTER(counterUpd, 0xA7710001);
-* PERF_INIT_COUNTER(counterAtt, 0xA7710002);
-* PERF_INIT_COUNTER(counterPeriod, 0xA7710003);
-* PERF_INIT_COUNTER(counterAccelSamples, 0xA7710004);</pre>
-*
-* At this point you can start using the counters as in the following samples
-*
-* Track the time spent on a certain function:
-* <pre>PERF_TIMED_SECTION_START(counterAtt);
-* updateAttitude(&accelState, &gyros);
-* PERF_TIMED_SECTION_END(counterAtt);</pre>
-* PERF_TIMED_SECTION_[START!STOP] marks the beginning and the end of the code to monitor
-*
-* Measure the mean of the period a certain point is reached:
-* <pre>PERF_MEASURE_PERIOD(counterPeriod);</pre>
-* Note that the value stored in the counter is a long running mean while max and min are single point values
-*
-* Track an user defined int32_t value:
-* <pre>PERF_TRACK_VALUE(counterAccelSamples, i);</pre>
-* the counter is then updated with the value of i.
-*
-* \par
-*/
+ * \par
+ * This is a collections of helper macros that ease adding instrumentation support.
+ * \par
+ * Step by step guide:
+ *
+ * Define PIOS_INSTRUMENT_MODULE before including this file to enable instrumentation for a module
+ *
+ * <pre>#define PIOS_INSTRUMENT_MODULE
+ * #include <pios_instrumentation_helper.h></pre>
+ *
+ * Declare the variables used to hold counter handlers.
+ * Place the following code along all module variables declaration.
+ * <pre>PERF_DEFINE_COUNTER(counterUpd);
+ * PERF_DEFINE_COUNTER(counterAccelSamples);
+ * PERF_DEFINE_COUNTER(counterPeriod);
+ * PERF_DEFINE_COUNTER(counterAtt);</pre>
+ *
+ * Counters needs to be initialized before they are used.
+ * The following code needs to be added to a function called at module initialization.
+ * the second parameter is a unique counter Id.
+ * A good pracice is to use the upper half word as module id and lower as counter id
+ * <pre>PERF_INIT_COUNTER(counterUpd, 0xA7710001);
+ * PERF_INIT_COUNTER(counterAtt, 0xA7710002);
+ * PERF_INIT_COUNTER(counterPeriod, 0xA7710003);
+ * PERF_INIT_COUNTER(counterAccelSamples, 0xA7710004);</pre>
+ *
+ * At this point you can start using the counters as in the following samples
+ *
+ * Track the time spent on a certain function:
+ * <pre>PERF_TIMED_SECTION_START(counterAtt);
+ * updateAttitude(&accelState, &gyros);
+ * PERF_TIMED_SECTION_END(counterAtt);</pre>
+ * PERF_TIMED_SECTION_[START!STOP] marks the beginning and the end of the code to monitor
+ *
+ * Measure the mean of the period a certain point is reached:
+ * <pre>PERF_MEASURE_PERIOD(counterPeriod);</pre>
+ * Note that the value stored in the counter is a long running mean while max and min are single point values
+ *
+ * Track an user defined int32_t value:
+ * <pre>PERF_TRACK_VALUE(counterAccelSamples, i);</pre>
+ * the counter is then updated with the value of i.
+ *
+ * \par
+ */
 
 #ifndef PIOS_INSTRUMENTATION_HELPER_H
 #define PIOS_INSTRUMENTATION_HELPER_H