diff --git a/.vscode/settings.json b/.vscode/settings.json
index 51c1d3c..fa5cb03 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -123,11 +123,13 @@
         "Ahnung",
         "akku",
         "ardui",
+        "Baseclass",
         "blox",
         "bluedroid",
         "carr",
         "CIPO",
         "COPI",
+        "Doxygen",
         "Dutycycle",
         "gast",
         "GNSS",
@@ -137,9 +139,12 @@
         "Keine",
         "kleiax",
         "Lebennig",
+        "microcontroller",
+        "MQTT",
         "NMEA",
         "NMEAGPGGA",
         "NTRIP",
+        "pcnt",
         "pidl",
         "pidr",
         "Punica",
diff --git a/doc/Doxygen/Doxyfile b/doc/Doxygen/Doxyfile
index 3ad1597..b80b40a 100644
--- a/doc/Doxygen/Doxyfile
+++ b/doc/Doxygen/Doxyfile
@@ -51,7 +51,7 @@ PROJECT_BRIEF          = "A small verhicle which should be drive a route with GP
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           = C:/Users/alex1/git/projektarbeit/doc/Doxygen/logo.png
+PROJECT_LOGO           = logo.png
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
@@ -606,7 +606,7 @@ HIDE_COMPOUND_REFERENCE= NO
 # will show which file needs to be included to use the class.
 # The default value is: YES.
 
-SHOW_HEADERFILE        = YES
+# SHOW_HEADERFILE        = YES
 
 # If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
 # the files that are included by a file in the documentation of that file.
@@ -824,7 +824,7 @@ WARN_IF_DOC_ERROR      = YES
 # parameters have no documentation without warning.
 # The default value is: YES.
 
-WARN_IF_INCOMPLETE_DOC = YES
+# WARN_IF_INCOMPLETE_DOC = YES
 
 # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
 # are documented, but have no documentation for their parameters or return
@@ -1608,7 +1608,7 @@ GENERATE_TREEVIEW      = YES
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-FULL_SIDEBAR           = NO
+# FULL_SIDEBAR           = NO
 
 # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
 # doxygen will group on one line in the generated HTML documentation.
@@ -1691,7 +1691,7 @@ USE_MATHJAX            = NO
 # The default value is: MathJax_2.
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
-MATHJAX_VERSION        = MathJax_2
+# MATHJAX_VERSION        = MathJax_2
 
 # When MathJax is enabled you can set the default output format to be used for
 # the MathJax output. For more details about the output format see MathJax
diff --git a/doc/TODO allgemein.txt b/doc/TODO allgemein.txt
index 771fbb1..6d6bbdb 100644
--- a/doc/TODO allgemein.txt	
+++ b/doc/TODO allgemein.txt	
@@ -28,6 +28,8 @@ Do later:
     -> update sparkfun gnss auf v3 für SPI korrekturdatenüvbetragung
     -> Rover Objekt mit Error zustand freeze, damit das wenn möglich auch auf dem Display angezeigt wird.
     -> ESP und Sensoren in den DeepSleep für Auschalten oder Akkuschutz
+    -> Doxygen comments
+        - navigation
 
 
 Do now:
diff --git a/doc/latexSnippet.cpp b/doc/latexSnippet.cpp
deleted file mode 100644
index ac4c65b..0000000
--- a/doc/latexSnippet.cpp
+++ /dev/null
@@ -1,9 +0,0 @@
-void KomponenteA::loop() {
-    this->komponenteB->loop();
-    this->komponenteC->loop();
-
-    if (millis() - this->lastMillis < this->delayMillis)
-        return;
-
-    this->doSomething();
-}
diff --git a/include/Version.h b/include/Version.h
index 109f133..99c9ad6 100644
--- a/include/Version.h
+++ b/include/Version.h
@@ -1,9 +1,8 @@
 
-    // AUTO GENERATED FILE, DO NOT EDIT
-    #ifndef VERSION
-        #define VERSION "0.8.36"
-    #endif
-    #ifndef BUILD_TIMESTAMP
-        #define BUILD_TIMESTAMP "2023-08-13 15:13:34.491991"
-    #endif
-    
\ No newline at end of file
+// AUTO GENERATED FILE, DO NOT EDIT
+#ifndef VERSION
+#define VERSION "1.8.36"
+#endif
+#ifndef BUILD_TIMESTAMP
+#define BUILD_TIMESTAMP "2023-10-13 15:13:34.491991"
+#endif
diff --git a/include/moveControl.h b/include/moveControl.h
index f2a1f08..a10c8a2 100644
--- a/include/moveControl.h
+++ b/include/moveControl.h
@@ -4,9 +4,9 @@
  * @brief Contains the MoveControl class
  * @version 0.1
  * @date 2021-12-14
- * 
+ *
  * @copyright Copyright (c) 2021
- * 
+ *
  */
 #ifndef MOVE_CONTROL_H
 #define MOVE_CONTROL_H
@@ -22,178 +22,182 @@
 #include "debugTimes.h"
 #include "component.h"
 
-
 /**
  * @brief A struct to easy set the speed
- * 
+ *
  */
-struct DrivingSpeeds {
+struct DrivingSpeeds
+{
     double x;
     double rot;
 };
 
 /**
  * @brief This class manages the motors and the encoders
- * 
+ *
  * The class uses two PIDs to control the motors. The PIDs
  * use the Speedometer class to get the current speed and the
  * given target speed to calculate a new duty cycle for the motors.
- * 
+ *
  */
-class MoveControl : public Component {
-    public:
-        /**
-         * @brief used to set driving status
-         * 
-         * When set to stop all motors are set to halt
-         * When set to Raw the PIDs are not used. The target 
-         * values must be given withe @see setRawPowerLeft and
-         * @see setRawPowerRight.
-         * 
-         * Drive is the normal working mode.
-         * 
-         */
-        enum Status {Stop,
-                    Drive,
-                    Raw};
+class MoveControl : public Component
+{
+public:
+    /**
+     * @brief Used to set driving status
+     *
+     * When set to stop all motors are set to halt
+     *
+     * When set to Raw the PIDs are not used. The target
+     * values must be given withe setRawPowerLeft() and
+     * setRawPowerRight().
+     *
+     * Drive is the normal working mode.
+     *
+     */
+    enum Status
+    {
+        Stop,
+        Drive,
+        Raw
+    };
 
+    /**
+     * @brief Construct a new Move Control object
+     *
+     * Initialize the motors, encoders and PIDs with given
+     * values in config.h
+     */
+    MoveControl();
 
-        /**
-         * @brief Construct a new Move Control object
-         * 
-         * Initialize the motors, encoders and PIDs with given
-         * values in config.h
-         */
-        MoveControl();
+    /**
+     * @brief Destroy the Move Control object
+     *
+     * Stops the motors with emergencyStop()
+     */
+    ~MoveControl();
 
-        /**
-         * @brief Destroy the Move Control object
-         * 
-         * Stops the motors with emergencyStop()
-         */
-        ~MoveControl();
+    /**
+     * @brief Set the Status
+     *
+     * Control if this component should work normally or with
+     * raw values for the motors.
+     *
+     * @see Status
+     * @param status
+     */
+    void setDrivingStatus(Status status);
 
-        /**
-         * @brief Set the Status
-         * 
-         * Control if this component should work normally or with
-         * raw values for the motors.
-         * 
-         * @see Status
-         * @param status 
-         */
-        void setDrivingStatus(Status status);
+    /**
+     * @brief Stops the engine immediately
+     *
+     */
+    void emergencyStop();
 
-        /**
-         * @brief Stops the engine immediately
-         * 
-         */
-        void emergencyStop();
+    /**
+     * @brief Set the target speed
+     *
+     * If the given speed is close to zero, then the
+     * target speed is set to zero.
+     * @param speed in m/s
+     */
+    void setSpeed(double speed);
 
-        /**
-         * @brief Set the target speed
-         * 
-         * If the given speed is close to zero, then the
-         * target speed is set to zero.
-         * @param speed in m/s
-         */
-        void setSpeed(double speed);
+    /**
+     * @brief Set the rotationSpeed
+     *
+     * If the given rotationSpeed is close to zero, then the
+     * target rotationSpeed is set to zero.
+     * @param speed rad/s
+     */
+    void setRotationSpeed(double speed);
 
-        /**
-         * @brief Set the rotationSpeed
-         * 
-         * If the given rotationSpeed is close to zero, then the
-         * target rotationSpeed is set to zero.
-         * @param speed rad/s
-         */
-        void setRotationSpeed(double speed);
+    /**
+     * @brief Set the speeds
+     *
+     * This function is a combination of the functions setSpeed() and
+     * setRotationSpeed(). The struct DrivingSpeeds
+     * is used for this.
+     *
+     *
+     * @param drivingSpeeds
+     */
+    void setSpeeds(DrivingSpeeds drivingSpeeds);
 
-        /**
-         * @brief Set the speeds
-         * 
-         * This function is a combination of @see setSpeed and
-         * @see setRotationSpeed. The struct @see DrivingSpeeds
-         * is used for this.
-         * 
-         * @param drivingSpeeds 
-         */
-        void setSpeeds(DrivingSpeeds drivingSpeeds);
+    /**
+     * @brief Set raw power left
+     *
+     * This value has only an effect if the status is raw.
+     * @see setDrivingStatus
+     *
+     * @param power between -100 and 100
+     */
+    void setRawPowerLeft(int16_t power);
 
-        /**
-         * @brief Set raw power left
-         * 
-         * This value has only an effect if the status is raw.
-         * @see setDrivingStatus
-         * 
-         * @param power between -100 and 100
-         */
-        void setRawPowerLeft(int16_t power);
+    /**
+     * @brief Set the raw power right
+     *
+     * This value has only an effect if status is raw.
+     *
+     * @param power between -100 and 100
+     */
+    void setRawPowerRight(int16_t power);
 
-        /**
-         * @brief Set the raw power right
-         * 
-         * This value has only an effect if status is raw.
-         * 
-         * @param power between -100 and 100
-         */
-        void setRawPowerRight(int16_t power);
+    /**
+     * @brief Set the pid tunings
+     *
+     * @param side 0 -> left, 1 -> right
+     * @param pPart
+     * @param iPart
+     * @param dPart
+     */
+    void setPidTunings(uint8_t side, double pPart, double iPart, double dPart);
 
-        /**
-         * @brief Set the pid tunings
-         * 
-         * @param side 0 -> left, 1 -> right
-         * @param pPart 
-         * @param iPart 
-         * @param dPart 
-         */
-        void setPidTunings(uint8_t side, double pPart, double iPart, double dPart);
+    /**
+     * @brief Returns the PID object of the choosen side.
+     *
+     * @param side 0 -> left, 1 -> right
+     * @return PID*
+     */
+    PID *getPID(uint8_t side) const;
 
-        /**
-         * @brief Returns the PID object of the choosen side.
-         * 
-         * @param side 0 -> left, 1 -> right
-         * @return PID* 
-         */
-        PID* getPID(uint8_t side) const;
+    Speedometer *getSpeedometerLeft() const { return this->leftSpeedometer; }
+    Speedometer *getSpeedometerRight() const { return this->rightSpeedometer; }
 
-        Speedometer* getSpeedometerLeft() const { return this->leftSpeedometer; }
-        Speedometer* getSpeedometerRight() const { return this->rightSpeedometer; }
+    uint16_t getDutycycleLeft() const { return this->leftMotor->getDutycycle(); }
+    uint16_t getDutycycleRight() const { return this->rightMotor->getDutycycle(); }
 
-        uint16_t getDutycycleLeft() const { return this->leftMotor->getDutycycle(); }
-        uint16_t getDutycycleRight() const { return this->rightMotor->getDutycycle(); }
+private:
+    void run() override;
+    static void setSpeedometerDirection(Speedometer *speedometer, double value);
+    void calcTargetWheelSpeed();
+    void regulateMotors();
+    void updateCurrentWheelSpeed();
 
-    private:
-        void run() override;
-        static void setSpeedometerDirection(Speedometer *speedometer, double value);
-        void calcTargetWheelSpeed();
-        void regulateMotors();
-        void updateCurrentWheelSpeed();
+    MotorControl *leftMotor;
+    MotorControl *rightMotor;
+    Speedometer *leftSpeedometer;
+    Speedometer *rightSpeedometer;
+    PID *leftPid;
+    PID *rightPid;
 
-        MotorControl *leftMotor;
-        MotorControl *rightMotor;
-        Speedometer *leftSpeedometer;
-        Speedometer *rightSpeedometer;
-        PID *leftPid;
-        PID *rightPid;
+    Status driving_status = Status::Stop;
+    DrivingSpeeds drivingSpeeds = {0, 0};
 
-        Status driving_status = Status::Stop;
-        DrivingSpeeds drivingSpeeds = {0, 0};
+    double wheelspeedLeftTarget = 0;
+    double wheelspeedRightTarget = 0;
+    double wheelspeedLeft = 0;
+    double wheelspeedRight = 0;
+    double leftPidOut = 0;
+    double rightPidOut = 0;
 
-        double wheelspeedLeftTarget = 0;
-        double wheelspeedRightTarget = 0;
-        double wheelspeedLeft = 0;
-        double wheelspeedRight = 0;
-        double leftPidOut = 0;
-        double rightPidOut = 0;
-
-        uint8_t overTimeCounter = 0;
-        uint8_t overTimeMax = 100;
-        int8_t rawPowerLeft = 0;
-        int8_t rawPowerRight = 0;
-
-        static constexpr int8_t maxPercentage = 100;
-        static constexpr float minSpeed = 0.2;
-        static constexpr uint8_t loopDelay = 20;
+    uint8_t overTimeCounter = 0;
+    uint8_t overTimeMax = 100;
+    int8_t rawPowerLeft = 0;
+    int8_t rawPowerRight = 0;
 
+    static constexpr int8_t maxPercentage = 100;
+    static constexpr float minSpeed = 0.2;
+    static constexpr uint8_t loopDelay = 20;
 };
 #endif // MOVE_CONTROL_H
diff --git a/include/networkConfig.h b/include/networkConfig.h
index 8e28c90..13aac37 100644
--- a/include/networkConfig.h
+++ b/include/networkConfig.h
@@ -2,14 +2,14 @@
  * @file networkConfig.h
  * @author Alexander Klein (alex@kleiax.de)
  * @brief Contains the settings for the Network class
- * 
+ *
  * With different defines the location can be choosen.
- * 
+ *
  * @version 0.1
  * @date 2022-02-15
- * 
+ *
  * @copyright Copyright (c) 2022
- * 
+ *
  */
 
 #include <stdint.h>
@@ -17,7 +17,8 @@
 #define HW1
 
 #ifdef HOTSPOT
-namespace NetworkConfig {
+namespace NetworkConfig
+{
     const char ssid[] = "Kleiax Handy";
     const char password[] = "12345677";
     const char ip[] = "192.168.43.4";
@@ -26,10 +27,11 @@ namespace NetworkConfig {
     const char dns[] = "8.8.8.8";
     const bool mqtt = false;
 }
-#endif //HOTSPOT
+#endif // HOTSPOT
 
 #ifdef HW1
-namespace NetworkConfig {
+namespace NetworkConfig
+{
     const char ssid[] = "hw1_gast";
     const char password[] = "KeineAhnung";
     const char ip[] = "192.168.0.4";
@@ -38,11 +40,12 @@ namespace NetworkConfig {
     const char dns[] = "8.8.8.8";
     const bool mqtt = false;
 }
-#endif //HW1
+#endif // HW1
 
-//Network config Rhede
+// Network config Rhede
 #ifdef RHEDE
-namespace NetworkConfig {
+namespace NetworkConfig
+{
     const char ssid[] = "LebennigHuus";
     const char password[] = "Punica-699";
     const char ip[] = "192.168.11.4";
@@ -51,16 +54,18 @@ namespace NetworkConfig {
     const char dns[] = "8.8.8.8";
     const bool mqtt = true;
 }
-#endif //RHEDE
+#endif // RHEDE
 
-namespace MqttConfig {
+namespace MqttConfig
+{
     const char server[] = "192.168.1.7";
     const uint16_t port = 1883;
     const char user[] = "kleiax";
     const char password[] = "p?{$_~5%hBM7wrcFkr55KWr#";
 }
 
-namespace NtripConfig {
+namespace NtripConfig
+{
     const char host[] = "rtk2go.com";
     const uint16_t port = 2101;
     // const char mountPoint[] = "GER-Dortmund";
diff --git a/lib/Battery/battery.cpp b/lib/Battery/battery.cpp
index 8aedcb2..73b77de 100644
--- a/lib/Battery/battery.cpp
+++ b/lib/Battery/battery.cpp
@@ -37,12 +37,12 @@ void Battery::run()
     this->readAdcToBuf();
     this->loopCounter++;
 
-    if (this->loopCounter >= this->calulationDelayMultiplier)
+    if (this->loopCounter >= this->calculateDelayMultiplier)
     {
         this->calculateBatteryVoltage();
         this->calculateBatteryPercent();
         this->loopCounter = 0;
-        this->calculatetNewValues = true;
+        this->calculatedNewValues = true;
     }
 }
 
@@ -89,12 +89,12 @@ bool Battery::isBatteryLow(double voltage) const
 
 bool Battery::isNewValue()
 {
-    if (!this->calculatetNewValues)
+    if (!this->calculatedNewValues)
     {
         return false;
     }
 
-    this->calculatetNewValues = false;
+    this->calculatedNewValues = false;
     return true;
 }
 
@@ -136,7 +136,7 @@ double Battery::calculateInputVoltage()
         return 0;
     }
 
-    return -this->adcCurveCoeficient[0] * pow(reading, 4) + this->adcCurveCoeficient[1] * pow(reading, 3) - this->adcCurveCoeficient[2] * pow(reading, 2) + this->adcCurveCoeficient[3] * reading + this->adcCurveCoeficient[4];
+    return -this->adcCurveCoefficient[0] * pow(reading, 4) + this->adcCurveCoefficient[1] * pow(reading, 3) - this->adcCurveCoefficient[2] * pow(reading, 2) + this->adcCurveCoefficient[3] * reading + this->adcCurveCoefficient[4];
 }
 
 void Battery::calculateBatteryVoltage()
diff --git a/lib/Battery/battery.h b/lib/Battery/battery.h
index 2afc17d..c2787a3 100644
--- a/lib/Battery/battery.h
+++ b/lib/Battery/battery.h
@@ -24,12 +24,20 @@
  *
  * This class reads the voltage from an analog pin to calculate the
  * charge level of a 3 Cell Li-Poly battery pack. The battery pack have
- * to be after a voltage diveder, so that maximum voltage for the
+ * to be after a voltage divider, so that maximum voltage for the
  * microcontroller is 3.3 Volt.
  */
 class Battery : public Component
 {
 public:
+    /**
+     * @brief States when the calibration modes is active
+     *
+     * - None means that no calibration is running
+     * - Reading means that the adc takes multiple values to calculate an average
+     * - Waiting means that the user has to set the new wanted voltage
+     * - Finished means that all measurements was taken
+     */
     enum CalibrationState
     {
         None,
@@ -41,15 +49,25 @@ public:
     /**
      * @brief Construct a new Battery object
      *
-     * The voltage devider have to be calculated, so that the input
+     * The voltage divider have to be calculated, so that the input
      * voltage from 3.3 Volt is never exceeded. It is assumed that
      * the microcontroller is connected to the second resistor.
      *
      * @param pin The analog to read from.
-     * @param firstResistor First resistor of the voltage devider.
-     * @param secondResistor Second resistor of the voltage devider.
+     * @param firstResistor First resistor of the voltage divider.
+     * @param secondResistor Second resistor of the voltage divider.
      */
     Battery(uint8_t pin, uint32_t firstResistor, uint32_t secondResistor);
+
+    /**
+     * @brief Construct a new Battery object
+     *
+     * With this constructor the real voltage is not calculated with the
+     * voltage divider but with a table which contains the raw reading from
+     * the adc mapped to a specific voltage
+     *
+     * @param pin
+     */
     Battery(uint8_t pin);
 
     /**
@@ -79,13 +97,50 @@ public:
      */
     bool isBatteryLow(double voltage) const;
 
+    /**
+     * @brief Check if a new voltage was been calculated
+     *
+     * @return true
+     * @return false
+     */
     bool isNewValue();
 
     // Calibration
     CalibrationState getCalibrationState() const { return this->calibrationState; }
+
+    /**
+     * @brief Get the current calibration voltage target
+     *
+     * The returned value stand for the index of the table for this reason
+     * the real value have to be calculated. After the returned voltage has been set
+     * you have to call nextVoltageIsReady().
+     *
+     * @return uint8_t voltage multiply with 0,1 and add 7
+     */
     uint8_t getCurrentCalibrationVoltage() const { return this->currentCalibrationVoltage; }
+
+    /**
+     * @brief Read next wanted voltage
+     *
+     * If this function is called, the calibration mode reads the new voltage
+     * and save the value in the table.
+     */
     void nextVoltageIsReady();
+
+    /**
+     * @brief Calibrate the battery readings
+     *
+     * This calibration has only an effect if the Component
+     * uses the table with the raw adc values. The calibration gives
+     * the user different voltages that have to be set with a
+     * laboratory power supply. The power supply have to be connected
+     * instead of the battery.
+     */
     void startCalibration();
+
+    /**
+     * @brief abort the calibration
+     */
     void finishCalibration();
 
 private:
@@ -109,14 +164,14 @@ private:
     uint8_t batteryPercent = 0;
     uint8_t batteryLowPercent = 10;
     uint8_t bufferPos = 0;
-    uint8_t calulationDelayMultiplier = 5;
+    uint8_t calculateDelayMultiplier = 5;
     uint8_t loopCounter = 0;
     uint8_t currentCalibrationVoltage = 0; // *0.1 + 7
     uint16_t adcBuffer[bufferSize];
     uint16_t *newRawAdcVoltages = nullptr;
     uint32_t firstResistor = 0;
     uint32_t secondResistor = 0;
-    bool calculatetNewValues = false;
+    bool calculatedNewValues = false;
     double batteryVoltage = 0;
     double batteryVoltageFactor;
 
@@ -137,11 +192,11 @@ private:
          2920, 2956, 2983, 3019, 3054, 3088, 3121, 3158, 3189, 3226,
          3264, 3300, 3339, 3379, 3414, 3453, 3500, 3544, 3598, 3636,
          3682, 3730, 3781, 3837, 3887, 3943, 3997, 4054, 4093, 4095};
-    const double adcCurveCoeficient[5] = {0.000000000000016,
-                                          0.000000000118171,
-                                          0.000000301211691,
-                                          0.001109019271794,
-                                          0.034143524634089};
+    const double adcCurveCoefficient[5] = {0.000000000000016,
+                                           0.000000000118171,
+                                           0.000000301211691,
+                                           0.001109019271794,
+                                           0.034143524634089};
 };
 
 #endif // BATTERY_H
diff --git a/lib/CalcAzimuth/calcAzimuth.h b/lib/CalcAzimuth/calcAzimuth.h
index c3aa08d..4b18315 100644
--- a/lib/CalcAzimuth/calcAzimuth.h
+++ b/lib/CalcAzimuth/calcAzimuth.h
@@ -1,7 +1,7 @@
 /**
  * @file calcAzimuth.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief
+ * @brief Contains a class that calculates the azimuth from a last and a current position
  * @version 0.1
  * @date 2023-09-03
  *
@@ -15,9 +15,18 @@
 #include "component.h"
 #include "point.h"
 
+/**
+ * @brief A class to calculate an azimuth
+ *
+ * This class calculates the current Azimuth with the last position
+ * where the rover has been rotated and the current position
+ */
 class CalcAzimuth : public Component
 {
 public:
+    /**
+     * @brief States which represent the quality of the current calculated azimuth
+     */
     enum State
     {
         Invalid,
@@ -27,13 +36,40 @@ public:
         Super
     };
 
+    /**
+     * @brief Construct a new Calc Azimuth object
+     *
+     * @param point current position
+     */
     CalcAzimuth(Point point);
 
+    /**
+     * @brief Have to be called if the rover rotates
+     *
+     * @param point current position
+     */
     void drivingDirectionChange(Point point);
+
+    /**
+     * @brief update the current position
+     *
+     * This function should be called if the rover has moved in
+     * a straight direction, to calculated the current Azimuth.
+     * More distance to the point given to drivingDirectionChange()
+     * increase the accuracy of the calculation.
+     *
+     * @param point current position
+     */
     void updateCurrentPosition(Point point);
     void disableCalcAzimuth() { this->directionChangeMode = false; }
 
     int16_t getAzimuth() const { return this->calcAzimuth; }
+
+    /**
+     * @brief Get the State struct
+     *
+     * @return State current quality of the calculation
+     */
     State getState() const { return this->state; }
 
     static String stateToString(State state);
diff --git a/lib/calibrateCompass/calibrateCompass.cpp b/lib/CalibrateCompass/calibrateCompass.cpp
similarity index 100%
rename from lib/calibrateCompass/calibrateCompass.cpp
rename to lib/CalibrateCompass/calibrateCompass.cpp
diff --git a/lib/CalibrateCompass/calibrateCompass.h b/lib/CalibrateCompass/calibrateCompass.h
new file mode 100644
index 0000000..f5ce2da
--- /dev/null
+++ b/lib/CalibrateCompass/calibrateCompass.h
@@ -0,0 +1,110 @@
+/**
+ * @file calibrateCompass.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains a class to calibrate the compass module
+ * @version 0.1
+ * @date 2023-05-23
+ *
+ * @copyright Copyright (c) 2023
+ *
+ */
+
+#pragma once
+
+#include <QMC5883LCompass.h>
+#include <Preferences.h>
+#include <iostream>
+
+#include "component.h"
+
+/**
+ * @brief A Class to calibrate the compass
+ *
+ * This class reads the raw values of the compass while
+ * the rove have to be moved. The lowest and highest values
+ * are used to calibrate the compass to the current location.
+ */
+class CalibrateCompass : public Component
+{
+public:
+    /**
+     * @brief State of the calibration process
+     */
+    enum State
+    {
+        Ready,
+        Calibrating,
+        Finished
+    };
+
+    /**
+     * @brief Type for calibration data
+     *
+     * The data consist of 6 values. For each for the 3 axis
+     * are to integer needed.
+     */
+    struct CalibrationData
+    {
+        int data[3][2];
+    };
+
+    CalibrateCompass(QMC5883LCompass *compass);
+
+    /**
+     * @brief Starts the calibration
+     */
+    void start();
+
+    /**
+     * @brief Use the measured calibration data
+     */
+    void useData();
+
+    /**
+     * @brief Remove the measured calibration data
+     */
+    void removeCalibration();
+
+    /**
+     * @brief Reset the calibration process to start again
+     */
+    void reset();
+
+    /**
+     * @brief Save the measured calibration data to the flash
+     */
+    void saveData();
+
+    /**
+     * @brief Load the measured calibration data from the flash
+     *
+     */
+    void loadData();
+
+    State getState() const { return this->state; }
+    CalibrationData getCalibrationData() const { return this->data; }
+
+    /**
+     * @brief Makes the calibration data printable with std::cout()
+     *
+     * @param stream
+     * @param caliComp
+     * @return std::ostream&
+     */
+    friend std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp);
+
+private:
+    void runAsChild() override;
+    void run() override;
+    void checkDataValidity();
+
+    QMC5883LCompass *compass;
+    State state = State::Ready;
+    CalibrationData data{};
+
+    void clearData();
+
+    bool dataValid = false;
+    const uint16_t maxTimeWithoutChange = 10000;
+    uint32_t lastChange = 0;
+};
diff --git a/lib/Component/component.cpp b/lib/Component/component.cpp
index 8bf2ab5..0595c77 100644
--- a/lib/Component/component.cpp
+++ b/lib/Component/component.cpp
@@ -19,7 +19,7 @@ void Component::loop()
             (*it)->loop();
         }
     }
-    this->runAsChild();
+    this->runAsChild();F
 
     if (this->onlyChilds)
     {
diff --git a/lib/Component/component.h b/lib/Component/component.h
index 7e4b93a..bf37591 100644
--- a/lib/Component/component.h
+++ b/lib/Component/component.h
@@ -1,7 +1,7 @@
 /**
  * @file component.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief
+ * @brief Contains an interface to make non blocking components with delay.
  * @version 0.1
  * @date 2023-08-16
  *
@@ -15,31 +15,123 @@
 
 #include <list>
 
+/**
+ * @brief An Interface to make components
+ *
+ * A component is a task that be called in a loop which not
+ * runs every loop, so every component has a non blocking delay.
+ *
+ * A component can manage other components which called children components.
+ */
 class Component
 {
 public:
+    /**
+     * @brief Construct a new Component object
+     *
+     * With the default constructor the created component is
+     * by default inactive. This does not affect the execution of
+     * the children components.
+     */
     Component() {}
+
+    /**
+     * @brief Construct a new Component object
+     *
+     * If the given parameter is zero, there are no differences to the
+     * default constructor.
+     *
+     * @param loopDelay the minimum time in milliseconds before the task runs
+     */
     Component(uint16_t loopDelay);
 
+    /**
+     * @brief Runs the children components and the task
+     *
+     * The loop() function of the children is called every time this
+     * loop is called.
+     *
+     * The run() function which presents the task of this component is
+     * only called if the delay is reached.
+     */
     void loop();
 
+    /**
+     * @brief Deactivate this component
+     *
+     * If the component is deactivated the call of loop() ha no effect
+     */
     void deactivate() { this->active = false; }
     void activate() { this->active = false; }
 
 protected:
+    /**
+     * @brief Override this function to avoid the delay
+     */
     virtual void runAsChild() {}
+
+    /**
+     * @brief Runs befor the run() function
+     *
+     * This function is only called, if the delay
+     * is reached.
+     * The function do nothing, except the function is overwritten
+     * by the class which inherits this class.
+     */
     virtual void beforeRun() {}
+
+    /**
+     * @brief The actual task
+     *
+     * This function have to be overwritten by the inheriting class.
+     */
     virtual void run() = 0;
+
+    /**
+     * @brief Runs after the run() function
+     *
+     * This function is only called, if the delay
+     * is reached.
+     * The function do nothing, except the function is overwritten
+     * by the class which inherits this class.
+     */
     virtual void afterRun() {}
 
+    /**
+     * @brief Adds a child component
+     *
+     * The child component will be called every time the loop() function
+     * is called.
+     *
+     * @param child
+     */
     void addChildComponent(Component *child);
     void removeChildComponent(Component *child);
 
     void activateOnlyChilds() { this->onlyChilds = true; }
+
+    /**
+     * @brief Skip the actual task
+     *
+     * Same as set the loopDelay to zero.
+     */
     void deactivateOnlyChilds() { this->onlyChilds = false; }
 
+    /**
+     * @brief Set the timer after task
+     *
+     * If this function is called once the measurement of the delay
+     * starts after task has finished. The default is, that the
+     * measurement begins at the start of the task.
+     */
     void setTimerAfterTask() { this->timeUpdateAfter = true; }
 
+    /**
+     * @brief the minimum time in milliseconds before the task runs
+     *
+     * If this value is zero, the functions beforeRun(), run() and
+     * afterRun() would not be called
+     */
     uint16_t loopDelay = 0;
 
 private:
diff --git a/lib/ControllPad/controlPad.cpp b/lib/ControllPad/controlPad.cpp
index 737ae6c..9fcf9ae 100644
--- a/lib/ControllPad/controlPad.cpp
+++ b/lib/ControllPad/controlPad.cpp
@@ -11,7 +11,7 @@
 
 #include "controlPad.h"
 
-ControlPad::ControlPad() : Component(5), controlInput{0, 0, 0, 0} {}
+ControlPad::ControlPad() : Component(10), controlInput{0, 0, 0, 0} {}
 
 void ControlPad::run()
 {
diff --git a/lib/ControllPad/controlPad.h b/lib/ControllPad/controlPad.h
index 1df2ba2..c0f0904 100644
--- a/lib/ControllPad/controlPad.h
+++ b/lib/ControllPad/controlPad.h
@@ -1,7 +1,7 @@
 /**
  * @file controlPad.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief
+ * @brief Contains a class that gets the input data
  * @version 0.1
  * @date 2023-03-30
  *
@@ -16,15 +16,46 @@
 #include <controlPadInput.h>
 #include <component.h>
 
+/**
+ * @brief A class to manage inputs
+ *
+ * This class converts the incoming data to the buttons and
+ * the axis from the joystick. The converted data will be send
+ * to the menu.
+ */
 class ControlPad : public Component
 {
 public:
     ControlPad();
 
+    /**
+     * @brief Insert the incoming data to convert
+     *
+     * The data is converted to the ControlPadInput struct.
+     *
+     * @param data have to be 4 byte long
+     */
     void insertData(const uint8_t *data);
 
+    /**
+     * @brief Set the MenuControl object
+     *
+     * The MenuControl object is used to control the Menu.
+     *
+     * @see Menu
+     * @see ControlPadInput
+     *
+     * @param menuControl
+     */
     void setMenuControl(MenuControl *menuControl) { this->menuControl = menuControl; }
 
+    /**
+     * @brief Get the Control Pad Data
+     *
+     * The pointer holds the lates data from the ControlPad
+     *
+     * @return const ControlPadInput*
+     */
     const ControlPadInput *getControlPadDataPtr() const { return &this->controlInput; }
 
     bool isControlPadConnected() const { return this->connected; }
diff --git a/lib/Counter/counter.h b/lib/Counter/counter.h
index 34579e6..74c96b6 100644
--- a/lib/Counter/counter.h
+++ b/lib/Counter/counter.h
@@ -1,21 +1,65 @@
+/**
+ * @file counter.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains a class that abstract the hardware counter from the esp32
+ * @version 0.1
+ * @date 2023-10-12
+ *
+ * @copyright Copyright (c) 2023
+ *
+ */
 #pragma once
 
 #include <Arduino.h>
 #include <driver/pcnt.h>
 #include <cinttypes>
 
+/**
+ * @brief A class that abstract the hardware counter from the esp32
+ */
 class Counter
 {
 public:
+    /**
+     * @brief Construct a new Counter object
+     *
+     * @param pin with incoming pulses
+     */
     Counter(uint8_t pin);
 
+    /**
+     * @brief Pause the pulse counting
+     */
     void pause();
+
+    /**
+     * @brief Resume the pulse counting
+     */
     void resume();
+
+    /**
+     * @brief Start counting by zero again
+     */
     void clear();
 
+    /**
+     * @brief Get the counted pulses
+     *
+     * @return int16_t
+     */
     int16_t getValue() const;
 
+    /**
+     * @brief Set the filter value
+     *
+     * The filter skip all pulses after a pulse for the filter time.
+     * The filter time depends on the frequency of the processor. The time
+     * for a whole tact multiplied with the filter value results the filter time.
+     *
+     * @param value max 1023
+     */
     void setFilterValue(uint16_t value);
+
     void filterEnable();
     void filterDisable();
 
@@ -26,7 +70,7 @@ private:
 
     static uint8_t amountOfCounter;
 
-    bool initalised = false;
+    bool initalized = false;
 
     uint8_t pulsePin;
     pcnt_unit_t unit;
diff --git a/lib/LcdWrapper/LcdWrapper.cpp b/lib/LcdWrapper/LcdWrapper.cpp
index 4d48230..80d66db 100644
--- a/lib/LcdWrapper/LcdWrapper.cpp
+++ b/lib/LcdWrapper/LcdWrapper.cpp
@@ -1,5 +1,5 @@
 /**
- * @file displayWrapper.cpp
+ * @file LcdWrapper.cpp
  * @author Alexander Klein (alex@kleiax.de)
  * @brief Contains the implementation of the class LcdWrapper
  * @version 0.1
diff --git a/lib/LcdWrapper/LcdWrapper.h b/lib/LcdWrapper/LcdWrapper.h
index dd19cc5..e000fef 100644
--- a/lib/LcdWrapper/LcdWrapper.h
+++ b/lib/LcdWrapper/LcdWrapper.h
@@ -1,5 +1,5 @@
 /**
- * @file displayWrapper.h
+ * @file LcdWrapper.h
  * @author Alexander Klein (alex@kleiax.de)
  * @brief Contains the LcdWrapper class
  * @version 0.1
@@ -37,7 +37,6 @@ public:
 
     /**
      * @brief Empty the buffer
-     *
      */
     void clear() override;
 
diff --git a/lib/MQTT/debugMqtt.cpp b/lib/MQTT/debugMqtt.cpp
index 3de8e95..e042414 100644
--- a/lib/MQTT/debugMqtt.cpp
+++ b/lib/MQTT/debugMqtt.cpp
@@ -5,101 +5,115 @@
  * @see debugMqtt.h
  * @version 0.1
  * @date 2021-12-13
- * 
+ *
  * @copyright Copyright (c) 2021
- * 
+ *
  */
 #include "debugMqtt.h"
 
-PubSubClient* DebugMqtt::client;
+PubSubClient *DebugMqtt::client;
 Loglevel DebugMqtt::loglevel;
 bool DebugMqtt::isInit = false;
 char DebugMqtt::msg[MQTT_BUFFER_SIZE];
 char DebugMqtt::topic[MQTT_BUFFER_SIZE];
 
-
-DebugMqtt::DebugMqtt(const char* name, uint8_t bufSize) 
-    : name {name}
+DebugMqtt::DebugMqtt(const char *name, uint8_t bufSize)
+    : name{name}
 {
-    if (bufSize != 0) {
+    if (bufSize != 0)
+    {
         this->bufSize = bufSize;
     }
     this->buf = new char[this->bufSize];
 }
 
-DebugMqtt::~DebugMqtt() {
+DebugMqtt::~DebugMqtt()
+{
     delete this->buf;
 }
 
-void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg) {
-    snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s: %s"),this->name ,msg.c_str());
-    this->sendData(loglevel, topic, static_cast<const char*>(DebugMqtt::msg));
+void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg)
+{
+    snprintf(static_cast<char *>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char *>("%s: %s"), this->name, msg.c_str());
+    this->sendData(loglevel, topic, static_cast<const char *>(DebugMqtt::msg));
 }
 
-void DebugMqtt::sendMsg(Loglevel loglevel, String msg) {
+void DebugMqtt::sendMsg(Loglevel loglevel, String msg)
+{
     this->sendMsg(loglevel, "", msg);
 }
 
-void DebugMqtt::sendData(Loglevel loglevel, String topic, String data) {
-    if (!DebugMqtt::isInit) {
+void DebugMqtt::sendData(Loglevel loglevel, String topic, String data)
+{
+    if (!DebugMqtt::isInit)
+    {
         return;
     }
 
-    if (loglevel <= DebugMqtt::loglevel && loglevel > Loglevel::none) {
-        snprintf (static_cast<char*>(DebugMqtt::topic), MQTT_BUFFER_SIZE, static_cast<const char*>("%s%s"), DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
-        snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s"), data.c_str());
-        client->publish(DebugMqtt::topic, static_cast<const char*>(DebugMqtt::msg));
+    if (loglevel <= DebugMqtt::loglevel && loglevel > Loglevel::none)
+    {
+        snprintf(static_cast<char *>(DebugMqtt::topic), MQTT_BUFFER_SIZE, static_cast<const char *>("%s%s"), DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
+        snprintf(static_cast<char *>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char *>("%s"), data.c_str());
+        client->publish(DebugMqtt::topic, static_cast<const char *>(DebugMqtt::msg));
     }
 }
 
-void DebugMqtt::sendData(Loglevel loglevel, String data){
+void DebugMqtt::sendData(Loglevel loglevel, String data)
+{
     DebugMqtt::sendData(loglevel, "", data);
 }
 
-void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos) {
+void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos)
+{
     // Example String: "weather temperature=82 1465839830100400200";
 
-    snprintf(static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s %s=%f %llu"), measurement_name.c_str(), field_set.c_str(), measurement, nanos);
-    this->sendData(Loglevel::influx, static_cast<const char*>(DebugMqtt::msg));
+    snprintf(static_cast<char *>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char *>("%s %s=%f %llu"), measurement_name.c_str(), field_set.c_str(), measurement, nanos);
+    this->sendData(Loglevel::influx, static_cast<const char *>(DebugMqtt::msg));
 }
 
-void DebugMqtt::addCharacter(char character) {
+void DebugMqtt::addCharacter(char character)
+{
     this->buf[this->bufPos] = character;
     this->bufPos++;
-    if (character == '\n' || this->bufPos >= this->bufSize - 1) {
+    if (character == '\n' || this->bufPos >= this->bufSize - 1)
+    {
         this->buf[this->bufPos - 1] = '\0';
         this->sendMsg(Loglevel::info, buf);
         this->bufPos = 0;
     }
 }
 
-void DebugMqtt::init(PubSubClient *client, Loglevel max_loglevel) {
+void DebugMqtt::init(PubSubClient *client, Loglevel max_loglevel)
+{
     DebugMqtt::client = client;
     DebugMqtt::loglevel = max_loglevel;
     DebugMqtt::isInit = true;
 }
 
-void DebugMqtt::changeLoglevel(Loglevel loglevel) {
+void DebugMqtt::changeLoglevel(Loglevel loglevel)
+{
     DebugMqtt::loglevel = loglevel;
 }
 
-String DebugMqtt::enum_to_string(Loglevel loglevel) {
+String DebugMqtt::enum_to_string(Loglevel loglevel)
+{
     String topic = "";
     topic += MQTT_DEBUG_TOPIC;
-    switch(loglevel){
-    case Loglevel::error :
+    switch (loglevel)
+    {
+    case Loglevel::error:
         topic += "/Error";
         break;
-    case Loglevel::warn :
+    case Loglevel::warn:
         topic += "/Warn";
         break;
-    case Loglevel::info :
+    case Loglevel::info:
         topic += "/Info";
         break;
-    case Loglevel::debug :
+    case Loglevel::debug:
         topic += "/Debug";
         break;
-    case Loglevel::influx :
+    case Loglevel::influx:
         topic += "/Influx";
         break;
     default:
@@ -107,5 +121,4 @@ String DebugMqtt::enum_to_string(Loglevel loglevel) {
         break;
     }
     return topic;
- }
-
+}
diff --git a/lib/MQTT/debugMqtt.h b/lib/MQTT/debugMqtt.h
index 194fd14..bb17640 100644
--- a/lib/MQTT/debugMqtt.h
+++ b/lib/MQTT/debugMqtt.h
@@ -4,9 +4,9 @@
  * @brief Inherits a class to send debug messages over MQTT
  * @version 0.1
  * @date 2021-12-13
- * 
+ *
  * @copyright Copyright (c) 2021
- * 
+ *
  */
 #ifndef DEBUG_MQTT_H
 #define DEBUG_MQTT_H
@@ -14,10 +14,9 @@
 #include <iostream>
 #include <PubSubClient.h>
 
-
 /**
- * @brief 
- * 
+ * @brief
+ *
  * If you want to change the default topic
  * to an other value, than you have to define this define
  * in your code befor you include this File.
@@ -28,151 +27,155 @@
 
 /**
  * @brief Defualt for max message size
- * 
+ *
  * If you want to change the default size of 128 Byte
  * to an other value, than you have to define this define
  * in your code befor you include this File.
  */
 #ifndef MQTT_BUFFER_SIZE
 #define MQTT_BUFFER_SIZE 128
-#endif //MQTT_BUFFER_SIZE
+#endif // MQTT_BUFFER_SIZE
 
 /**
  * @brief An enum to set the log level
- * 
+ *
  * The log level is the last part of the MQTT topic.
  * Unless you give sendMsg() or sendData() a additional
  * topic as String.
- * 
+ *
  * @see sendMsg()
  * @see sendData()
- * 
+ *
  */
-enum Loglevel { none,
-                error,
-                warn,
-                info,
-                debug,
-                influx};
+enum Loglevel
+{
+    none,
+    error,
+    warn,
+    info,
+    debug,
+    influx
+};
 
 /**
  * @brief A class to send debug messages over MQTT
- * 
+ *
  * This class send debug messages over MQTT with different topics
  * by the enum Loglevel. Besides that this class supports to send
  * data via Telegraf into Grafana.
- * 
+ *
  * @see Loglevel
  */
-class DebugMqtt {
-    public:
-        /**
-         * @brief Construct a new Debug Mqtt object.
-         * 
-         * @param name A String with send with every Message.
-         * @param bufSize for the addCharacter function.
-         */
-        DebugMqtt(const char* name, uint8_t bufSize = 0);
+class DebugMqtt
+{
+public:
+    /**
+     * @brief Construct a new Debug Mqtt object.
+     *
+     * @param name A String with send with every Message.
+     * @param bufSize for the addCharacter function.
+     */
+    DebugMqtt(const char *name, uint8_t bufSize = 0);
 
-        ~DebugMqtt();
+    ~DebugMqtt();
 
-        /**
-         * @brief Send a Message via MQTT
-         * 
-         * This function uses sendData to send the given string and
-         * add the name to the message given by the constructer.
-         * 
-         * @see sendData()
-         * @see Loglevel
-         * 
-         * @param loglevel Loglevel given by the enum Loglevel
-         * @param topic Additional topic behind loglevel
-         * @param msg The message to send as String
-         */
-        void sendMsg(Loglevel loglevel, String topic, String msg);
-        void sendMsg(Loglevel loglevel, String msg);
+    /**
+     * @brief Send a Message via MQTT
+     *
+     * This function uses sendData to send the given string and
+     * add the name to the message given by the constructer.
+     *
+     * @see sendData()
+     * @see Loglevel
+     *
+     * @param loglevel Loglevel given by the enum Loglevel
+     * @param topic Additional topic behind loglevel
+     * @param msg The message to send as String
+     */
+    void sendMsg(Loglevel loglevel, String topic, String msg);
+    void sendMsg(Loglevel loglevel, String msg);
 
-        /**
-         * @brief Send a Message via MQTT
-         * 
-         * This function sends the Data via MQTT with the given topic
-         * from Loglevel or followed by given String topic.
-         * Normally this function is called by sendMsg() or by
-         * writeToInflux()
-         * 
-         * @see sendData()
-         * @see writeToInflux()
-         * @see Loglevel
-         * 
-         * @param loglevel Loglevel given by the enum Loglevel
-         * @param topic Additional topic behind loglevel
-         * @param data The message to send as String
-         */
-        static void sendData(Loglevel loglevel, String topic, String data);
-        static void sendData(Loglevel loglevel, String data);
+    /**
+     * @brief Send a Message via MQTT
+     *
+     * This function sends the Data via MQTT with the given topic
+     * from Loglevel or followed by given String topic.
+     * Normally this function is called by sendMsg() or by
+     * writeToInflux()
+     *
+     * @see sendData()
+     * @see writeToInflux()
+     * @see Loglevel
+     *
+     * @param loglevel Loglevel given by the enum Loglevel
+     * @param topic Additional topic behind loglevel
+     * @param data The message to send as String
+     */
+    static void sendData(Loglevel loglevel, String topic, String data);
+    static void sendData(Loglevel loglevel, String data);
 
-        /**
-         * @brief Send a Message via MQTT for InfluxDB
-         * 
-         * This function sends a MQTT message which is intended for
-         * Telegraf. Telegraf can listen on MQTT messages and put 
-         * them in an Influx Database.
-         * 
-         * @param measurement_name like a category
-         * @param field_set the name of the value e.g temperature
-         * @param measurement the real value
-         * @param nanos Current time in nanoseconds
-         */
-        void writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos);
+    /**
+     * @brief Send a Message via MQTT for InfluxDB
+     *
+     * This function sends a MQTT message which is intended for
+     * Telegraf. Telegraf can listen on MQTT messages and put
+     * them in an Influx Database.
+     *
+     * @param measurement_name like a category
+     * @param field_set the name of the value e.g temperature
+     * @param measurement the real value
+     * @param nanos Current time in nanoseconds
+     */
+    void writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos);
 
-        /**
-         * @brief Adds a single character to the buf
-         * 
-         * The buf will be flushed out:
-         *  1. when the buffer is full
-         *  2. when the character is '\n'
-         * 
-         * @param character 
-         */
-        void addCharacter(char character);
+    /**
+     * @brief Adds a single character to the buf
+     *
+     * The buf will be flushed out:
+     *  1. when the buffer is full
+     *  2. when the character is '\n'
+     *
+     * @param character
+     */
+    void addCharacter(char character);
 
-        /**
-         * @brief Initialize debugMQTT for all instances
-         * 
-         * You only have to call this function once for your project.
-         * If you call this function again you overwrite the client and
-         * the loglevel. If you only want du overwrite the max_loglevel
-         * use changeLoglevel()
-         * 
-         * @see changeLoglevel()
-         * 
-         * @param client PubSubClient
-         * @param max_loglevel Max loglevel to send.
-         */
-        static void init(PubSubClient* client, Loglevel max_loglevel);
+    /**
+     * @brief Initialize debugMQTT for all instances
+     *
+     * You only have to call this function once for your project.
+     * If you call this function again you overwrite the client and
+     * the loglevel. If you only want du overwrite the max_loglevel
+     * use changeLoglevel()
+     *
+     * @see changeLoglevel()
+     *
+     * @param client PubSubClient
+     * @param max_loglevel Max loglevel to send.
+     */
+    static void init(PubSubClient *client, Loglevel max_loglevel);
 
-        /**
-         * @brief Change loglevel
-         * 
-         * This function changes the maximum loglevel which be send.
-         * 
-         * @param loglevel 
-         */
-        static void changeLoglevel(Loglevel loglevel);
+    /**
+     * @brief Change loglevel
+     *
+     * This function changes the maximum loglevel which be send.
+     *
+     * @param loglevel
+     */
+    static void changeLoglevel(Loglevel loglevel);
 
-    private:
-        const char* name;
-        char* buf;
-        uint8_t bufPos = 0;
-        uint8_t bufSize = 100;
+private:
+    const char *name;
+    char *buf;
+    uint8_t bufPos = 0;
+    uint8_t bufSize = 100;
 
-        static String enum_to_string(Loglevel loglevel);
+    static String enum_to_string(Loglevel loglevel);
 
-        static PubSubClient* client;
-        static Loglevel loglevel;
-        static bool isInit;
-        static char msg[MQTT_BUFFER_SIZE];
-        static char topic[MQTT_BUFFER_SIZE];
+    static PubSubClient *client;
+    static Loglevel loglevel;
+    static bool isInit;
+    static char msg[MQTT_BUFFER_SIZE];
+    static char topic[MQTT_BUFFER_SIZE];
 };
 
 #endif // DEBUG_MQTT_H
diff --git a/lib/Navigation/navigation.h b/lib/Navigation/navigation.h
index cfe7ed6..65d5689 100644
--- a/lib/Navigation/navigation.h
+++ b/lib/Navigation/navigation.h
@@ -52,9 +52,10 @@ public:
     };
 
     /**
-     * @brief Construct a new Navigation object and using I2C
+     * @brief Construct a new Navigation object
      *
-     * @param route with which to navigate
+     * @param sensorData
+     * @param route
      */
     Navigation(const SensorData *sensorData, Route *route = nullptr);
 
@@ -89,11 +90,9 @@ public:
     /**
      * @brief Get the Course Correction object
      *
-     * This should be called by the driver to get new instructions.
-     *
-     * @param correction passed as refernce to get the data
-     * @return true if new correction data provided
-     * @return false if route is finished
+     * @param correction
+     * @param forceUpdate
+     * @return Status
      */
     Status getCourseCorrection(CourseCorrection &correction, bool forceUpdate = false);
 
diff --git a/lib/Network/network.cpp b/lib/Network/network.cpp
index 3479e3e..93ae142 100644
--- a/lib/Network/network.cpp
+++ b/lib/Network/network.cpp
@@ -21,18 +21,18 @@ Network::Network(const char *ssid, const char *passphrase)
     this->init(ssid, passphrase);
 }
 
-Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adresses)
-    : adresses{adresses}
+Network::Network(const char *ssid, const char *passphrase, NetworkAddresses adresses)
+    : addresses{adresses}
 {
     if (!WiFiGenericClass::mode(WIFI_AP_STA))
     {
         std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
     }
 
-    if (!WiFi.config(this->adresses.localIP,
-                     this->adresses.gateway,
-                     this->adresses.subnet,
-                     this->adresses.dnsServer))
+    if (!WiFi.config(this->addresses.localIP,
+                     this->addresses.gateway,
+                     this->addresses.subnet,
+                     this->addresses.dnsServer))
     {
         std::cout << "STA Failed to configure" << std::endl;
     }
@@ -45,7 +45,7 @@ Network::~Network()
     delete mqttClient;
 }
 
-bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send)
+bool Network::activateEspNow(receiveCallbackPtr reci, sendCallbackPtr send)
 {
     if (esp_now_init() != ESP_OK)
     {
@@ -76,7 +76,7 @@ bool Network::activateMqtt(const char *user, const char *passphrase)
     this->mqttPassphrase = passphrase;
 
     this->mqttClient = new PubSubClient(this->wifiClient);
-    this->mqttClient->setServer(this->adresses.mqttServer, this->adresses.mqttPort);
+    this->mqttClient->setServer(this->addresses.mqttServer, this->addresses.mqttPort);
     this->mqttClient->setSocketTimeout(1);
 
     if (this->wifiConnected)
@@ -116,7 +116,7 @@ uint8_t Network::getCurrentChannel()
 
 void Network::runAsChild()
 {
-    if (!this->initSucessful)
+    if (!this->initSuccessful)
     {
         return;
     }
@@ -154,21 +154,21 @@ void Network::init(const char *ssid, const char *passphrase)
 
 void Network::checkWifi()
 {
-    if ((WiFiSTAClass::status() != WL_CONNECTED) && (millis() - this->lastWifiRecoonectAttemp >= Network::wifiReconnectDelay))
+    if ((WiFiSTAClass::status() != WL_CONNECTED) && (millis() - this->lastWifiReconnectAttempt >= Network::wifiReconnectDelay))
     {
         std::cout << "Reconnecting to WiFi..." << std::endl;
         WiFi.disconnect();
         this->wifiConnected = WiFi.reconnect();
-        this->lastWifiRecoonectAttemp = millis();
+        this->lastWifiReconnectAttempt = millis();
     }
 }
 
 void Network::checkMqtt()
 {
-    if (!this->mqttClient->connected() && millis() - this->lastMqttReconnectAttemp > Network::mqttReconnectDelay)
+    if (!this->mqttClient->connected() && millis() - this->lastMqttReconnectAttempt > Network::mqttReconnectDelay)
     {
         this->mqttConnected = this->connectMqtt();
-        this->lastMqttReconnectAttemp = millis();
+        this->lastMqttReconnectAttempt = millis();
     }
 
     if (this->mqttConnected)
diff --git a/lib/Network/network.h b/lib/Network/network.h
index acd7841..b35d255 100644
--- a/lib/Network/network.h
+++ b/lib/Network/network.h
@@ -20,10 +20,20 @@
 #include <esp_now.h>
 #include <esp_wifi.h>
 
-typedef void (*recieveCallbackPtr)(const uint8_t *mac, const uint8_t *incomingData, int len);
+/**
+ * @brief Typedef to easy handle the receive Callback
+ */
+typedef void (*receiveCallbackPtr)(const uint8_t *mac, const uint8_t *incomingData, int len);
+
+/**
+ * @brief Typedef to easy handle the send Callback
+ */
 typedef void (*sendCallbackPtr)(const uint8_t *mac_addr, esp_now_send_status_t status);
 
-struct NetworkAdresses
+/**
+ * @brief A Struct to hold all network addresses
+ */
+struct NetworkAddresses
 {
     IPAddress localIP;
     IPAddress gateway;
@@ -33,17 +43,58 @@ struct NetworkAdresses
     uint16_t mqttPort = 1883;
 };
 
+/**
+ * @brief A class to manage the wireless connections
+ */
 class Network : public Component
 {
 public:
+    /**
+     * @brief Construct a new Network object
+     *
+     * With this constructor the esp gets its ip from a Dhcp server
+     *
+     * @param ssid
+     * @param passphrase
+     */
     Network(const char *ssid, const char *passphrase);
-    Network(const char *ssid, const char *passphrase, NetworkAdresses adresses);
+
+    /**
+     * @brief Construct a new Network object
+     *
+     * This constructor is used for a static ip setup
+     *
+     * @param ssid
+     * @param passphrase
+     * @param addresses
+     */
+    Network(const char *ssid, const char *passphrase, NetworkAddresses addresses);
 
     ~Network();
 
-    bool activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send);
+    /**
+     * @brief Activate ESP-NOW to communicate with the remote Control
+     *
+     * @param receive
+     * @param send
+     * @return true
+     * @return false
+     */
+    bool activateEspNow(receiveCallbackPtr receive, sendCallbackPtr send);
+
+    /**
+     * @brief Activate MQTT to send debug messages
+     *
+     * @param user
+     * @param passphrase
+     * @return true
+     * @return false
+     */
     bool activateMqtt(const char *user = nullptr, const char *passphrase = nullptr);
 
+    /**
+     * @brief Print the current used IPs
+     */
     const void printIPs();
 
     bool isWifiConnected() const { return this->wifiConnected; }
@@ -61,11 +112,11 @@ private:
     void checkMqtt();
     bool connectMqtt();
 
-    NetworkAdresses adresses;
+    NetworkAddresses addresses;
     WiFiClient wifiClient;
     PubSubClient *mqttClient = nullptr;
 
-    bool initSucessful = false;
+    bool initSuccessful = false;
     bool wifiConnected = false;
     bool mqttConnected = false;
 
@@ -73,8 +124,8 @@ private:
     const char *mqttPassphrase = nullptr;
 
     uint8_t broadcastAddress[6] = {0xC8, 0xC9, 0xA3, 0xC8, 0x57, 0x10};
-    uint32_t lastWifiRecoonectAttemp = 0;
-    uint32_t lastMqttReconnectAttemp = 0;
+    uint32_t lastWifiReconnectAttempt = 0;
+    uint32_t lastMqttReconnectAttempt = 0;
 
     static constexpr uint8_t wifiConnectTimeout = 20;
     static constexpr uint16_t wifiConnectLoopTime = 500;
diff --git a/lib/Point/point.h b/lib/Point/point.h
index 3cc4862..b229054 100644
--- a/lib/Point/point.h
+++ b/lib/Point/point.h
@@ -18,9 +18,9 @@
 #define ROUTE_DISTANCE_BETWEEN_LATITUDE 111300
 
 /**
- * @brief A to handle points on the earth
+ * @brief A class to handle points on the earth
  *
- * The points inherits latidue and longitude as doubles
+ * The points inherits latitude and longitude as doubles
  *
  */
 class Point
@@ -58,11 +58,10 @@ public:
     /**
      * @brief Construct a new Point object
      *
-     * @param lat latitude
-     * @param lon longitude
-     * @param horizontalAccuracy mm
-     * @param coords Coordinates
-     * @param imported if true than highest accuracy
+     * @param lat
+     * @param lon
+     * @param horizontalAccuracy
+     * @param creationTime
      */
     Point(double lat, double lon, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
     Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
diff --git a/lib/Route/route.h b/lib/Route/route.h
index 7b38315..0b86be5 100644
--- a/lib/Route/route.h
+++ b/lib/Route/route.h
@@ -1,27 +1,28 @@
 /**
  * @file route.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the class Point and Route
+ * @brief Contains the class Route
  * @version 0.1
  * @date 2022-01-31
- * 
+ *
  * @copyright Copyright (c) 2022
- * 
+ *
  */
 
 #ifndef ROUTE_H
 #define ROUTE_H
 
 #include <cstdint>
-#include <list> 
+#include <list>
 
 #include "point.h"
 
 /**
  * @brief Holds some route information
- * 
+ *
  */
-struct RouteInfo{
+struct RouteInfo
+{
     /**
      * @brief Selected number of Points
      */
@@ -35,77 +36,76 @@ struct RouteInfo{
 
 /**
  * @brief A class to manage multiple points
- * 
+ *
  * The list of point presents a route which can be driven
  */
-class Route {
-    public:
-        /**
-         * @brief Adds a point to the list.
-         * 
-         * @param point 
-         */
-        void addPointToRoute(Point point);
+class Route
+{
+public:
+    /**
+     * @brief Adds a point to the list.
+     *
+     * @param point
+     */
+    void addPointToRoute(Point point);
 
-        /**
-         * @brief Delete all points.
-         * 
-         */
-        void clear();
+    /**
+     * @brief Delete all points
+     */
+    void clear();
 
-        /**
-         * @brief Select the first point as target.
-         * 
-         * @return Point 
-         */
-        Point startRoute();
+    /**
+     * @brief Select the first point as target.
+     *
+     * @return Point
+     */
+    Point startRoute();
 
-        /**
-         * @brief Select the last point as target.
-         * 
-         * @return Point 
-         */
-        Point endRoute();
+    /**
+     * @brief Select the last point as target.
+     *
+     * @return Point
+     */
+    Point endRoute();
 
-        /**
-         * @brief Get the next point and set it as target.
-         * 
-         * @return Point is zero if there are no more Points.
-         */
-        Point getNextPoint();
+    /**
+     * @brief Get the next point and set it as target.
+     *
+     * @return Point is zero if there are no more Points.
+     */
+    Point getNextPoint();
 
-        /**
-         * @brief Get the previous point and set it as target.
-         * 
-         * @return Point 
-         */
-        Point getPreviousPoint();
+    /**
+     * @brief Get the previous point and set it as target.
+     *
+     * @return Point
+     */
+    Point getPreviousPoint();
 
-        /**
-         * @brief Get the Route Info object
-         * 
-         * @return RouteInfo 
-         */
-        RouteInfo getRouteInfo();
+    /**
+     * @brief Get the Route Info object
+     *
+     * @return RouteInfo
+     */
+    RouteInfo getRouteInfo();
 
-        /**
-         * @brief Get the Started object
-         * 
-         * The Route will be marked as started when startRoute or 
-         * endRoute has been called.
-         * 
-         * @return true 
-         * @return false 
-         */
-        bool getStarted() const { return this->started; }
+    /**
+     * @brief Get the Started object
+     *
+     * The Route will be marked as started when startRoute or
+     * endRoute has been called.
+     *
+     * @return true
+     * @return false
+     */
+    bool getStarted() const { return this->started; }
 
-    private:
-        uint16_t currentPoint = 0;
-        bool started = false;
-
-        std::list<Point> points;
-        std::list<Point>::iterator it;
+private:
+    uint16_t currentPoint = 0;
+    bool started = false;
 
+    std::list<Point> points;
+    std::list<Point>::iterator it;
 };
 
 #endif // ROUTE_H
diff --git a/lib/Sensors/sensorData.cpp b/lib/Sensors/sensorData.cpp
index b80c8ac..f5246e8 100644
--- a/lib/Sensors/sensorData.cpp
+++ b/lib/Sensors/sensorData.cpp
@@ -1,5 +1,5 @@
 /**
- * @file senors.cpp
+ * @file sensorData.cpp
  * @author Alexander Klein (alex@kleiax.de)
  * @brief
  * @version 0.1
@@ -83,32 +83,32 @@ void SensorData::enableCalcCompass()
     // TODO: !!! implementieren
 }
 
-void SensorData::enableGyroskop()
+void SensorData::enableGyroscope()
 {
-    this->gyroskop = new MPU6050();
-    this->gyroskop->initialize();
-    if (!this->gyroskop->testConnection())
+    this->gyroscope = new MPU6050();
+    this->gyroscope->initialize();
+    if (!this->gyroscope->testConnection())
     {
-        std::cout << "SensorData::enableGyroskop: Gyroskop is not conntected. Freeze!" << std::endl;
+        std::cout << "SensorData::enableGyroscope: Gyroskop is not conntected. Freeze!" << std::endl;
         while (true)
         {
         }
     }
 
-    const uint8_t deviceStatus = this->gyroskop->dmpInitialize();
+    const uint8_t deviceStatus = this->gyroscope->dmpInitialize();
 
     // TODO: !!! MagicNumer 6x
-    this->gyroskop->setXGyroOffset(220);
-    this->gyroskop->setYGyroOffset(76);
-    this->gyroskop->setZGyroOffset(-85);
-    this->gyroskop->setZAccelOffset(1788);
+    this->gyroscope->setXGyroOffset(220);
+    this->gyroscope->setYGyroOffset(76);
+    this->gyroscope->setZGyroOffset(-85);
+    this->gyroscope->setZAccelOffset(1788);
 
     if (deviceStatus == 0)
     {
-        this->gyroskop->CalibrateAccel(6);
-        this->gyroskop->CalibrateGyro(6);
-        this->gyroskop->PrintActiveOffsets();
-        this->gyroskop->setDMPEnabled(true);
+        this->gyroscope->CalibrateAccel(6);
+        this->gyroscope->CalibrateGyro(6);
+        this->gyroscope->PrintActiveOffsets();
+        this->gyroscope->setDMPEnabled(true);
     }
     else
     {
@@ -116,7 +116,7 @@ void SensorData::enableGyroskop()
         // 1 = initial memory load failed
         // 2 = DMP configuration updates failed
         // (if it's going to break, usually the code will be 1)
-        std::cout << "SensorData::enableGyroskop: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
+        std::cout << "SensorData::enableGyroscope: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
         while (true)
         {
         }
@@ -236,11 +236,11 @@ void SensorData::run()
         this->realAzimuth = this->realCompass->getAzimuth();
     }
 
-    if (static_cast<bool>(this->gyroskop) && this->gyroskop->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
+    if (static_cast<bool>(this->gyroscope) && this->gyroscope->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
     {
-        this->gyroskop->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
-        this->gyroskop->dmpGetGravity(&this->gravity, &this->quaternion);
-        this->gyroskop->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
+        this->gyroscope->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
+        this->gyroscope->dmpGetGravity(&this->gravity, &this->quaternion);
+        this->gyroscope->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
     }
 }
 
diff --git a/lib/Sensors/sensorData.h b/lib/Sensors/sensorData.h
index 598e42c..7eb69cf 100644
--- a/lib/Sensors/sensorData.h
+++ b/lib/Sensors/sensorData.h
@@ -1,7 +1,7 @@
 /**
  * @file sensorData.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief
+ * @brief Contains the SensorData class
  * @version 0.1
  * @date 2023-09-02
  *
@@ -26,8 +26,12 @@
 #include "ntripClient.h"
 
 #include "point.h"
-class Sensors;
 
+/**
+ * @brief A class to manage all sensors
+ *
+ * Each sensor have separately to be enabled
+ */
 class SensorData : public Component
 {
 public:
@@ -35,26 +39,89 @@ public:
     ~SensorData();
 
     void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
+
+    /**
+     * @brief Enable the gnss module over spi
+     *
+     * @param spiPort
+     * @param csPin
+     */
     void enableGnss(SPIClass *spiPort, uint8_t csPin);
+
+    /**
+     * @brief Enable the gnss module over i2c
+     */
     void enableGnss();
+
     void enableRealCompass();
     void enableCalcCompass();
-    void enableGyroskop();
+    void enableGyroscope();
 
-    // Interface Const kram
+    // Interface Const
+    /**
+     * @brief Get the azimuth measured by the compass module
+     *
+     * @return int16_t
+     */
     int16_t getRealAzimuth() const { return this->realAzimuth; }
+
+    /**
+     * @brief Get the azimuth calculated by CalcAzimuth
+     *
+     * Consider to call getCalcAzimuthState() to check, if the data is valid.
+     *
+     * @return int16_t
+     */
     int16_t getCalcAzimuth() const { return this->calcAzimuth; }
+
+    /**
+     * @brief Get the CalcAzimuth::State object
+     *
+     * Needed to check the quality of calculated azimuth
+     *
+     * @return CalcAzimuth::State
+     */
     CalcAzimuth::State getCalcAzimuthState() const;
 
     Point getCurrentPos() const { return this->currentPosition; }
     const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
     NTRIPClientStates getNtripState() const;
+
+    /**
+     * @brief Get the data from the gyroscope
+     *
+     * The returned float pointer is an array of 3 floats
+     * - Yaw
+     * - Pitch
+     * - Roll
+     *
+     * @return const float*
+     */
     const float *getGyroData() const { return this->yawPitchRoll; }
 
+    /**
+     * @brief Get the CalcCompass object
+     * @return CalcAzimuth*
+     */
     CalcAzimuth *getCalcCompass() const { return this->calcCompass; }
+
+    /**
+     * @brief Get the RealCompass object
+     * @return QMC5883LCompass*
+     */
     QMC5883LCompass *getRealCompass() const { return this->realCompass; }
+
+    /**
+     * @brief Get the NTRIPClient object
+     * @return NTRIPClient*
+     */
     NTRIPClient *getNtripClient() const { return this->ntripClient; }
-    MPU6050 *getGyroskop() const { return this->gyroskop; }
+
+    /**
+     * @brief Get the Gyroscope object
+     * @return MPU6050*
+     */
+    MPU6050 *getGyroscope() const { return this->gyroscope; }
 
     // static
     /**
@@ -77,7 +144,7 @@ private:
     CalcAzimuth *calcCompass = nullptr;
     SFE_UBLOX_GNSS *gnss = nullptr;
     NTRIPClient *ntripClient = nullptr;
-    MPU6050 *gyroskop = nullptr;
+    MPU6050 *gyroscope = nullptr;
 
     UBX_NAV_PVT_data_t *gnssData = nullptr;
     Point currentPosition;
diff --git a/lib/Speedometer/speedometer.h b/lib/Speedometer/speedometer.h
index 87ff979..a47f1ff 100644
--- a/lib/Speedometer/speedometer.h
+++ b/lib/Speedometer/speedometer.h
@@ -48,7 +48,7 @@ public:
      *
      * @param pin Pin on the Esp from the encoder.
      * @param diameter Diameter of the wheel in meters.
-     * @param steps Encodersteps for a complete wheel rotation.
+     * @param steps EncoderSteps for a complete wheel rotation.
      */
     Speedometer(uint8_t pin, double diameter, uint16_t steps);
 
@@ -78,12 +78,24 @@ public:
     Direction getDirection() const { return this->currentDirection; }
 
     /**
-     * @brief Get the calculated speed of the Wheel
+     * @brief Get the calculated speed of the wheel
      *
      * @return double speed in m/s
      */
     double getSpeed() const { return this->speed; }
+
+    /**
+     * @brief Get the calculated speed of the wheel
+     *
+     * @return double speed in rad/s
+     */
     double getSpeedRad() const { return this->rad; };
+
+    /**
+     * @brief Get the calculated average speed of the wheel
+     *
+     * @return double speed in m/s
+     */
     double getAvgSpeed() const;
 
     /**
diff --git a/lib/Times/debugTimes.cpp b/lib/Times/debugTimes.cpp
index d94e856..82b5d73 100644
--- a/lib/Times/debugTimes.cpp
+++ b/lib/Times/debugTimes.cpp
@@ -1,7 +1,7 @@
 /**
  * @file debugTimes.cpp
  * @author Alexander Klein (alex@kleiax.de)
- * @brief Implemention of the class debugTimes.h.
+ * @brief Implementation of the class debugTimes.h.
  * @version 0.1
  * @date 2021-12-13
  *
@@ -19,7 +19,7 @@ DebugTimes::DebugTimes()
     if (DebugTimes::printWarning)
     {
         std::cout << std::endl
-                  << "Warning: DebugTimes is muuted, no times are be shown." << std::endl
+                  << "Warning: DebugTimes is muted, no times are be shown." << std::endl
                   << std::endl;
         DebugTimes::printWarning = false;
     }
diff --git a/lib/Times/debugTimes.h b/lib/Times/debugTimes.h
index 5327a94..da82965 100644
--- a/lib/Times/debugTimes.h
+++ b/lib/Times/debugTimes.h
@@ -53,7 +53,7 @@ public:
     /**
      * @brief Print the elapsed time to consol
      *
-     * @param name Functionname to print
+     * @param name FunctionName to print
      * @param minTime A minimum time before printing
      *
      * @return uint16_t elapsed milliseconds
diff --git a/lib/calibrateCompass/calibrateCompass.h b/lib/calibrateCompass/calibrateCompass.h
deleted file mode 100644
index 9fc953c..0000000
--- a/lib/calibrateCompass/calibrateCompass.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/**
- * @file calibrateCompass.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief
- * @version 0.1
- * @date 2023-05-23
- *
- * @copyright Copyright (c) 2023
- *
- */
-
-#pragma once
-
-#include <QMC5883LCompass.h>
-#include <Preferences.h>
-#include <iostream>
-
-#include "component.h"
-
-class CalibrateCompass : public Component
-{
-public:
-    enum State
-    {
-        Ready,
-        Calibrating,
-        Finished
-    };
-
-    struct CallibrationData
-    {
-        int data[3][2];
-    };
-
-    CalibrateCompass(QMC5883LCompass *compass);
-
-    void start();
-    void useData();
-    void removeCalibration();
-    void reset();
-    void saveData();
-    void loadData();
-
-    State getState() const { return this->state; }
-    CallibrationData getCallibrationData() const { return this->data; }
-
-    friend std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp);
-
-private:
-    void runAsChild() override;
-    void run() override;
-    void checkDataValidity();
-
-    QMC5883LCompass *compass;
-    State state = State::Ready;
-    CallibrationData data{};
-
-    void clearData();
-
-    bool dataValid = false;
-    const uint16_t maxTimeWithoutChange = 10000;
-    uint32_t lastChange = 0;
-};
diff --git a/src/OutputBuf/outputBuf.cpp b/src/OutputBuf/outputBuf.cpp
index c33c288..7d4cd83 100644
--- a/src/OutputBuf/outputBuf.cpp
+++ b/src/OutputBuf/outputBuf.cpp
@@ -1,5 +1,5 @@
 /**
- * @file outputBufMqtt.cpp
+ * @file outputBuf.cpp
  * @author Alexander Klein (alex@kleiax.de)
  * @brief Contains the implementation of the class OutputBufMqtt
  * @version 0.1
diff --git a/src/OutputBuf/outputBuf.h b/src/OutputBuf/outputBuf.h
index 6b785b4..fa6abb3 100644
--- a/src/OutputBuf/outputBuf.h
+++ b/src/OutputBuf/outputBuf.h
@@ -1,5 +1,5 @@
 /**
- * @file outputBufMqtt.h
+ * @file outputBuf.h
  * @author Alexander Klein (alex@kleiax.de)
  * @brief Contains a small class that provide a streambuf
  * 
@@ -38,6 +38,7 @@ class OutputBuf : public std::streambuf {
          * @brief Construct a new Output Buf Mqtt object
          * 
          * @param debugMqtt 
+         * @param serialBT
          */
         OutputBuf(DebugMqtt* debugMqtt = nullptr, BluetoothSerial* serialBT = nullptr);
 
diff --git a/src/SpecialMenus/Systeminformation/menuSysteminformation.h b/src/SpecialMenus/Systeminformation/menuSysteminformation.h
index d0d885a..8b35dc6 100644
--- a/src/SpecialMenus/Systeminformation/menuSysteminformation.h
+++ b/src/SpecialMenus/Systeminformation/menuSysteminformation.h
@@ -31,8 +31,7 @@ class MenuSysteminformation : public MenuInformationSites {
         /**
          * @brief Construct a new Menu Systeminformation object
          * 
-         * @param mainBattery 
-         * @param gamepad 
+         * @param mainBattery
          */
         MenuSysteminformation(Battery* mainBattery);
 
diff --git a/src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp b/src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
index 9715f31..c479fc7 100644
--- a/src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
+++ b/src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
@@ -81,23 +81,23 @@ void MenuCalibrateCompass::printPage() const {
 
         case 8:
             lineOne = "X min: ";
-            lineOne.concat(this->caliCompass->getCallibrationData().data[0][0]);
+            lineOne.concat(this->caliCompass->getCalibrationData().data[0][0]);
             lineTwo = "X max: ";
-            lineTwo.concat(this->caliCompass->getCallibrationData().data[0][1]);
+            lineTwo.concat(this->caliCompass->getCalibrationData().data[0][1]);
             break;
 
         case 9:
             lineOne = "Y min: ";
-            lineOne.concat(this->caliCompass->getCallibrationData().data[1][0]);
+            lineOne.concat(this->caliCompass->getCalibrationData().data[1][0]);
             lineTwo = "Y max: ";
-            lineTwo.concat(this->caliCompass->getCallibrationData().data[1][1]);
+            lineTwo.concat(this->caliCompass->getCalibrationData().data[1][1]);
             break;
 
         case 10:
             lineOne = "Z min: ";
-            lineOne.concat(this->caliCompass->getCallibrationData().data[2][0]);
+            lineOne.concat(this->caliCompass->getCalibrationData().data[2][0]);
             lineTwo = "Z max: ";
-            lineTwo.concat(this->caliCompass->getCallibrationData().data[2][1]);
+            lineTwo.concat(this->caliCompass->getCalibrationData().data[2][1]);
             break;
 
         default:
diff --git a/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp b/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
index 7f88b5b..72dc8b8 100644
--- a/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+++ b/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
@@ -164,7 +164,7 @@ void MenuTestMode::init() {
     auto *lightBlueAction = new MenuAction("Blue", dummy);
     auto *lightOffAction = new MenuAction("Off", dummy);    
 
-    // Add entrys to the menus
+    // Add entries to the menus
     this->mainMenu->addEntry(engineAction);
     this->mainMenu->addEntry(drivingAction);
     this->mainMenu->addEntry(encoderAction);
diff --git a/src/SpecialMenus/driveModi/TestMode/speedometerTest.cpp b/src/SpecialMenus/driveModi/TestMode/speedometerTest.cpp
index 8d88049..4481e53 100644
--- a/src/SpecialMenus/driveModi/TestMode/speedometerTest.cpp
+++ b/src/SpecialMenus/driveModi/TestMode/speedometerTest.cpp
@@ -1,5 +1,5 @@
 /**
- * @file menuTest.cpp
+ * @file speedometerTest.cpp
  * @author Alexander Klein (alex@kleiax.de)
  * @brief Contains the implementation of the class SpeedometerTest.
  * @version 0.1
diff --git a/src/SpecialMenus/driveModi/TestMode/speedometerTest.h b/src/SpecialMenus/driveModi/TestMode/speedometerTest.h
index 609e474..3990403 100644
--- a/src/SpecialMenus/driveModi/TestMode/speedometerTest.h
+++ b/src/SpecialMenus/driveModi/TestMode/speedometerTest.h
@@ -1,5 +1,5 @@
 /**
- * @file menuTest.h
+ * @file speedometerTest.h
  * @author Alexander Klein (alex@kleiax.de)
  * @brief Contains a class to test the wheel encoder.
  * @version 0.1
diff --git a/src/driveModi/driveManager.h b/src/driveModi/driveManager.h
index 8c7f5f9..1050a34 100644
--- a/src/driveModi/driveManager.h
+++ b/src/driveModi/driveManager.h
@@ -22,14 +22,21 @@
 
 class DriveManager : public Component {
     public:
+
         /**
          * @brief Construct a new Drive Manager object
          * 
-         * Creates a Navigation object
-         * 
          * @param moveControl 
+         * @param sensorData 
+         * @param input 
          */
         DriveManager(MoveControl *moveControl, const SensorData* sensorData, const ControlPadInput *input);
+
+        /**
+         * @brief Construct a new Drive Manager object
+         * 
+         * @param params 
+         */
         DriveManager(DriveModiParams params);
 
         /**
diff --git a/src/main.cpp b/src/main.cpp
index 3431a27..9c3134f 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -70,7 +70,7 @@ void restart();
 void receiveCallback(const uint8_t *mac, const uint8_t *incomingData, int len);
 void sendCallback(const uint8_t *mac_addr, esp_now_send_status_t status);
 void lcdWrapperCallback(const char data[][LcdWrapper::totalRows], uint8_t lines, uint8_t rows);
-NetworkAdresses setIPs();
+NetworkAddresses setIPs();
 
 void setup()
 {
@@ -130,7 +130,7 @@ void setup()
                             static_cast<const char*>(NtripConfig::mountPoint),
                             static_cast<const char*>(NtripConfig::user), 
                             static_cast<const char*>(NtripConfig::password));
-    // sensorData->enableGyroskop();
+    // sensorData->enableGyroscope();
     driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());
 
     char wifiIndicator = 'X';
@@ -355,9 +355,9 @@ void lcdWrapperCallback(const char data[][LcdWrapper::totalRows], uint8_t lines,
     }
 }
 
-NetworkAdresses setIPs()
+NetworkAddresses setIPs()
 {
-    NetworkAdresses adresses;
+    NetworkAddresses adresses;
     adresses.localIP.fromString(static_cast<const char *>(NetworkConfig::ip));
     adresses.subnet.fromString(static_cast<const char *>(NetworkConfig::subnet));
     adresses.gateway.fromString(static_cast<const char *>(NetworkConfig::gateway));