5 files changed, 15 insertions, 0 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 44b339ce5..d876f1a39 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -35,6 +35,7 @@
  * @file ecl_pitch_controller.cpp
  * Implementation of a simple orthogonal pitch PID controller.
  *
+ * Authors and acknowledgements in header.
  */
 
 #include "ecl_pitch_controller.h"
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
index 7fbfd6fbc..6217eb9d0 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
@@ -35,6 +35,12 @@
  * @file ecl_pitch_controller.h
  * Definition of a simple orthogonal pitch PID controller.
  *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough, 2013.
  */
 
 #ifndef ECL_PITCH_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index f3a8585ae..b9a73fc02 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -35,6 +35,7 @@
  * @file ecl_roll_controller.cpp
  * Implementation of a simple orthogonal roll PID controller.
  *
+ * Authors and acknowledgements in header.
  */
 
 #include "../ecl.h"
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
index 3427b67c2..a6d30d210 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
@@ -35,6 +35,12 @@
  * @file ecl_roll_controller.h
  * Definition of a simple orthogonal roll PID controller.
  *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Acknowledgements:
+ *
+ *   The control design is based on a design
+ *   by Paul Riseborough, 2013.
  */
 
 #ifndef ECL_ROLL_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index 2b7429996..b786acf24 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -35,6 +35,7 @@
  * @file ecl_yaw_controller.cpp
  * Implementation of a simple orthogonal coordinated turn yaw PID controller.
  *
+ * Authors and acknowledgements in header.
  */
 
 #include "ecl_yaw_controller.h"