diff --git a/frtos/ultrasonic_sensor/CMakeLists.txt b/frtos/ultrasonic_sensor/CMakeLists.txt
index 30fe799..64aa5b7 100644
--- a/frtos/ultrasonic_sensor/CMakeLists.txt
+++ b/frtos/ultrasonic_sensor/CMakeLists.txt
@@ -1,7 +1,7 @@
 add_executable(
         ultrasonic_sensor
         ultrasonic_sensor.c
-        )
+)
 
 target_link_libraries(
         ultrasonic_sensor
@@ -12,12 +12,12 @@ target_link_libraries(
         hardware_i2c
         FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap
         hardware_pwm
-        )
+)
 
-target_include_directories(ultrasonic_sensor 
+target_include_directories(ultrasonic_sensor
         PRIVATE ../config
         ../motor
-        )
+)
 
 pico_enable_stdio_usb(ultrasonic_sensor 1)
 pico_add_extra_outputs(ultrasonic_sensor)
\ No newline at end of file
diff --git a/frtos/ultrasonic_sensor/ultrasonic_init.h b/frtos/ultrasonic_sensor/ultrasonic_init.h
index eaf9488..b8ab816 100644
--- a/frtos/ultrasonic_sensor/ultrasonic_init.h
+++ b/frtos/ultrasonic_sensor/ultrasonic_init.h
@@ -35,7 +35,7 @@ check_obstacle(void *pvParameters)
         // Calculate the distance (in centimeters)
         uint32_t pulse_duration = end_time - start_time;
         float    distance
-            = (pulse_duration * 0.034 / 2); // Speed of sound in cm/us
+            = (pulse_duration * 0.034 / 2); // Speed of sound in air to cm/us
 
         // printf("Distance: %.2f cm\n", distance);
 
@@ -50,6 +50,11 @@ check_obstacle(void *pvParameters)
     }
 }
 
+
+/**
+ * @brief Initialise the Ultrasonic Sensor
+ * @details Initialise the Ultrasonic Sensor Pins and set default collision value
+ */
 void
 ultrasonic_init(car_struct_t *car_struct)
 {
diff --git a/frtos/ultrasonic_sensor/ultrasonic_sensor.c b/frtos/ultrasonic_sensor/ultrasonic_sensor.c
index 9dc40ae..bcdf17e 100644
--- a/frtos/ultrasonic_sensor/ultrasonic_sensor.c
+++ b/frtos/ultrasonic_sensor/ultrasonic_sensor.c
@@ -6,7 +6,6 @@
 #include "ultrasonic_sensor.h"
 #include "car_config.h"
 
-
 int
 main(void)
 {