diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
index be2b4a9198aceee237be7637df76dcd024ed7a15..cd98353cc186796b633534e23be794fdde880503 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
@@ -1,19 +1,34 @@
-// Links the crazyflies with the student ids and with the crazyflie zones
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Links the crazyflies with the student ids and with the crazyflie zones
+//
+// ----------------------------------------------------------------------------------
+
#ifndef CFLINKER_H
#define CFLINKER_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/centerMarker.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/centerMarker.h
index b36d513af126964d5aba02725758416657655792..f76d5a70d2dfaf916339e6f340a3d5ebf98d0696 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/centerMarker.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/centerMarker.h
@@ -1,19 +1,34 @@
-// Marker for the center of the Crazyflie Zone
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Marker for the center of the Crazyflie Zone
+//
+// ----------------------------------------------------------------------------------
+
#ifndef CENTER_MARKER_H
#define CENTER_MARKER_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/channelLUT.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/channelLUT.h
index b62928e2b01ec176d74bc92e645780e417fe03b3..150d8ad3a41cdaab226b91384d66b76949df6d25 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/channelLUT.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/channelLUT.h
@@ -1,19 +1,34 @@
-// Look up table that connects the crazyflie names with their respective radio addresses
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Look up table that connects the crazyflie names with their respective radio addresses
+//
+// ----------------------------------------------------------------------------------
+
#ifndef ADDRESSLUT_H
#define ADDRESSLUT_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/cornergrabber.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/cornergrabber.h
index 1cea65cf55aeebfe0bb2c4a010183ccd0b9eead1..279225bc44769cd1bbd3f719076a6ec807797408 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/cornergrabber.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/cornergrabber.h
@@ -1,19 +1,34 @@
-// Cornergrabber that allows to dynamically change the size of tables and crazyflie zones
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Cornergrabber that allows to dynamically change the size of tables and crazyflie zones
+//
+// ----------------------------------------------------------------------------------
+
#ifndef CORNERGRABBER_H
#define CORNERGRABBER_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
index 262d3be6e389acc6adb8c4a35215a63cbd61a506..dc81898794c3585a14370fe8e823431f8b523127 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
@@ -1,19 +1,34 @@
-// Crazyflie object, representation of a Crazyflie in the scene
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Crazyflie object, representation of a Crazyflie in the scene
+//
+// ----------------------------------------------------------------------------------
+
#ifndef CRAZYFLY_H
#define CRAZYFLY_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h
index 9c4dbb5ec21bf6e8a21d7c350f56041b7ef7a5cf..ea643be1600cbf2c6f571b345d16fac253c31318 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h
@@ -1,19 +1,34 @@
-// Rectangular zone that we will be able to link to a crazyflie
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Rectangular zone that we will be able to link to a crazyflie
+//
+// ----------------------------------------------------------------------------------
+
#ifndef CRAZYFLYZONE_H
#define CRAZYFLYZONE_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZoneTab.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZoneTab.h
index 7e812cb5dac9ffeddc50e8dfa5ef0a4d65783d98..c7a3291684c516ed38eb9fd48bdb1fc36309a53b 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZoneTab.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZoneTab.h
@@ -1,19 +1,34 @@
-// Tab that is created when we create a crazyflie zone
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Tab that is created when we create a crazyflie zone
+//
+// ----------------------------------------------------------------------------------
+
#ifndef CRAZYFLYZONETAB_H
#define CRAZYFLYZONETAB_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h
index e2d9668d0fdffc25823d5ab23211c242dd34e6ee..c25a843d718c0802e87beea70de7812a9d329482 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h
@@ -1,19 +1,34 @@
-// Useful global definitions
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Useful global definitions
+//
+// ----------------------------------------------------------------------------------
+
#ifndef GLOBAL_DEFINITIONS_H
#define GLOBAL_DEFINITIONS_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
index 9ac6af822cae33fec1add00cf0f7e835c41660db..9e2fd35149985a824038b533c13d41a2210786ec 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
@@ -1,18 +1,34 @@
-// Teacher's GUI main window header.
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Teacher's GUI main window header.
+//
+// ----------------------------------------------------------------------------------
+
#ifndef MAINGUIWINDOW_H
#define MAINGUIWINDOW_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h
index f71a521bec0c4957dc87df2d30035c7b917cbb64..1a7a4ae0d4a2f4bb5035003f5c6292dff6990c34 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h
@@ -1,18 +1,34 @@
-// Teacher's GUI marker object, to represent unlabeled markers.
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Teacher's GUI marker object, to represent unlabeled markers.
+//
+// ----------------------------------------------------------------------------------
+
#ifndef MARKER_H
#define MARKER_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsRectItem.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsRectItem.h
index b41ffb1724ad722ff0b0f5b6f55892befed1a31f..a5358e2b40e5e9d7839a2f73de2f461dfd38edf6 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsRectItem.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsRectItem.h
@@ -1,20 +1,35 @@
-// Abstract class to represent our reimplementation of QGraphicsRectItem. Will be the base
-// for table and crazyflie zone.
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Abstract class to represent our reimplementation of QGraphicsRectItem. Will be the base
+// for table and crazyflie zone.
+//
+// ----------------------------------------------------------------------------------
+
#ifndef MYGRAPHICSRECTITEM_H
#define MYGRAPHICSRECTITEM_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsScene.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsScene.h
index 091ac65ddeab9c13aaadff45c313dbfde9cff6b4..91ea913c43b5630c6a57c049fc1cf71252083667 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsScene.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsScene.h
@@ -1,19 +1,34 @@
-// Our reimplementation of QGraphicsScene
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Our reimplementation of QGraphicsScene
+//
+// ----------------------------------------------------------------------------------
+
#ifndef MYGRAPHICSSCENE_H
#define MYGRAPHICSSCENE_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsView.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsView.h
index 1ddcc9365723ad04cd6c07216a7ae28c9be26ccc..154dfbefeb2617b8e5f01330694e6f05eaa222fc 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsView.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/myGraphicsView.h
@@ -1,19 +1,34 @@
-// Our reimplementation of QGraphicsView
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Our reimplementation of QGraphicsView
+//
+// ----------------------------------------------------------------------------------
+
#ifndef MYGRAPHICSVIEW_H
#define MYGRAPHICSVIEW_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
index b54cd14bc5e0ce87bde0f044726b6365140afa3e..699a5b1fa2bf8a876dc2c89c9f25f8710cc40184 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
@@ -1,19 +1,34 @@
-// Creates a thread that runs the ros node.
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Creates a thread that runs the ros node.
+//
+// ----------------------------------------------------------------------------------
+
#ifndef ___ROSNODETHREAD_H___
#define ___ROSNODETHREAD_H___
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/tablePiece.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/tablePiece.h
index 64a2c1979f3440cc6e66e5f186b8345164475b97..f97d5ecadf43d31fcc454cb915cd64be494ddf91 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/tablePiece.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/tablePiece.h
@@ -1,19 +1,34 @@
-// Table piece, rectangle that serves as a representation of the real table
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Table piece, rectangle that serves as a representation of the real table
+//
+// ----------------------------------------------------------------------------------
+
#ifndef TABLEPIECE_H
#define TABLEPIECE_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
index 97369d3e5e78be35d3c783a22f646f91b60b106c..9ee8fdbbd982b308e377140753dc888063e2b70b 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
@@ -1,19 +1,34 @@
-// Links the crazyflies with the student ids and with the crazyflie zones
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Links the crazyflies with the student ids and with the crazyflie zones
+//
+// ----------------------------------------------------------------------------------
+
#include "CFLinker.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/centerMarker.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/centerMarker.cpp
index 708956071c9ebefd49f43723bed12de4f7898b5a..73a82f9a7d07b52bfdc6fc0ae82f989f2977f8e0 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/centerMarker.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/centerMarker.cpp
@@ -1,19 +1,34 @@
-// Marker for the center of the Crazyflie Zone
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Marker for the center of the Crazyflie Zone
+//
+// ----------------------------------------------------------------------------------
+
#include "centerMarker.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/channelLUT.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/channelLUT.cpp
index 8b1529ab761fe938922dee6f0db7a97bdb3d4e89..a4d8232345cbe28bbe3b520c308f5c1fd84db850 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/channelLUT.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/channelLUT.cpp
@@ -1,19 +1,34 @@
-// Look up table that connects the crazyflie names with their respective radio addresses
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Look up table that connects the crazyflie names with their respective radio addresses
+//
+// ----------------------------------------------------------------------------------
+
#include "channelLUT.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/cornergrabber.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/cornergrabber.cpp
index 4b9577a0f1b94cecdab7dd376eada4a712049891..8cd8acb34265d498f822195643ab34df6c52e9a2 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/cornergrabber.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/cornergrabber.cpp
@@ -1,19 +1,34 @@
-// Cornergrabber that allows to dynamically change the size of tables and crazyflie zones
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Cornergrabber that allows to dynamically change the size of tables and crazyflie zones
+//
+// ----------------------------------------------------------------------------------
+
#include "cornergrabber.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
index 81386533e602473795bb64a1591b2b873ef0be57..d83ccd4e464d1060e58ef03ec5c410dbbccafb29 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
@@ -1,19 +1,34 @@
-// Crazyflie object, representation of a Crazyflie in the scene
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Crazyflie object, representation of a Crazyflie in the scene
+//
+// ----------------------------------------------------------------------------------
+
#include "crazyFly.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZone.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZone.cpp
index 2e2a07058a7984fc3d1798e57791b214e28e2330..4a50b6143c1bbaa5ad4d8245dd093c44ab3de4f3 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZone.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZone.cpp
@@ -1,19 +1,34 @@
-// Rectangular zone that we will be able to link to a crazyflie
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Rectangular zone that we will be able to link to a crazyflie
+//
+// ----------------------------------------------------------------------------------
+
#include "crazyFlyZone.h"
#include "globalDefinitions.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZoneTab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZoneTab.cpp
index 63677e3fb5a9eff22b73d1f3cef4cc4b7842c253..72ffe02aee73776d0b40bdb05d60175cb1c77f97 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZoneTab.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZoneTab.cpp
@@ -1,19 +1,34 @@
-// Tab that is created when we create a crazyflie zone
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Tab that is created when we create a crazyflie zone
+//
+// ----------------------------------------------------------------------------------
+
#include "crazyFlyZoneTab.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/main.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/main.cpp
index 1b8181a78a9208072723f9521b9ae22994c4a774..ed3847f3884acd7651216976e7b873fc91916e10 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/main.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/main.cpp
@@ -1,19 +1,34 @@
-// Main file of the project Teacher's GUI.
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Main file of the project Teacher's GUI.
+//
+// ----------------------------------------------------------------------------------
+
#include "mainguiwindow.h"
#include "ui_mainguiwindow.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index 7691e350c73e1b4fe7571bb0b38229fd86baca5d..c5118668a2076f76c1e605f49816300a18ebacbc 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -1,18 +1,34 @@
-// Teacher's GUI main window header.
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Teacher's GUI main window header.
+//
+// ----------------------------------------------------------------------------------
+
#include "mainguiwindow.h"
#include "ui_mainguiwindow.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/marker.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/marker.cpp
index fbf2478726248368ede9e14089560b110b96b899..118165edb69347a0a958229811bc5d5c57ab4515 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/marker.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/marker.cpp
@@ -1,18 +1,34 @@
-// Teacher's GUI marker object, to represent unlabeled markers.
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Teacher's GUI marker object, to represent unlabeled markers.
+//
+// ----------------------------------------------------------------------------------
+
#include "marker.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsRectItem.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsRectItem.cpp
index f73d903f5d1f8e761a8f9e89d73ffa3a7163e6f3..d328de462592c7f5ef5ede9523c08945e694de11 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsRectItem.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsRectItem.cpp
@@ -1,20 +1,35 @@
-// Abstract class to represent our reimplementation of QGraphicsRectItem. Will be the base
-// for table and crazyflie zone.
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Abstract class to represent our reimplementation of QGraphicsRectItem. Will be the base
+// for table and crazyflie zone.
+//
+// ----------------------------------------------------------------------------------
+
#include "myGraphicsRectItem.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsScene.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsScene.cpp
index 814d927abb608733b1b304be3b5b835b59cf6ebe..33b5d4e7b837e93fed28bdb5b919823055a5ff4e 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsScene.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsScene.cpp
@@ -1,19 +1,34 @@
-// Our reimplementation of QGraphicsScene
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Our reimplementation of QGraphicsScene
+//
+// ----------------------------------------------------------------------------------
+
#include "myGraphicsScene.h"
#include "globalDefinitions.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsView.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsView.cpp
index 85be20abfc1095b4b2ab96ae06b902da759d0483..1673bc0995a5a6de3e3659617390921899ffe2ef 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsView.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsView.cpp
@@ -1,19 +1,34 @@
-// Our reimplementation of QGraphicsView
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Our reimplementation of QGraphicsView
+//
+// ----------------------------------------------------------------------------------
+
#include "myGraphicsView.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp
index 65f301dbb12f77ba333f7c07c79f095403aa2c73..d417ffc9205778cb74f318c78d49853630fc89c2 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp
@@ -1,19 +1,34 @@
-// Creates a thread that runs the ros node.
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Creates a thread that runs the ros node.
+//
+// ----------------------------------------------------------------------------------
+
#include "rosNodeThread.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/tablePiece.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/tablePiece.cpp
index 25bd917df12dcb72e611ec8454e7c0e903f7ac3f..1b5893dd5141a797f7879814d590e763f73fbde6 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/tablePiece.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/tablePiece.cpp
@@ -1,19 +1,34 @@
-// Table piece, rectangle that serves as a representation of the real table
-//
-// Copyright (C) 2017 Angel Romero
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Table piece, rectangle that serves as a representation of the real table
+//
+// ----------------------------------------------------------------------------------
+
#include "tablePiece.h"
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index 69dd2b6e7ceb453941c95c684edc8eced7a98db4..e68a72fda7576913aec72c09de6d38dd7426128d 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -1,21 +1,37 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
-# Alternate controller that is expected to work.
-# Copyright (C) 2017 Angel Romero, Cyrill Burgener, Marco Mueller, Philipp Friedli
+# Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero, Cyrill Burgener, Marco Mueller, Philipp Friedli
+#
+# This file is part of D-FaLL-System.
+#
+# D-FaLL-System is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# D-FaLL-System is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+#
+#
+# ----------------------------------------------------------------------------------
+# DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+# D D F aaa L L S Y Y S T E MM MM
+# D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+# D D F a aa L L S Y S T E M M
+# DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+#
+#
+# DESCRIPTION:
+# The service that manages the context of the student groups.
+#
+# ----------------------------------------------------------------------------------
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-
-# You should have received a copy of the GNU General Public License
-# along with this program. If not, see <http://www.gnu.org/licenses/>.
import roslib; roslib.load_manifest('d_fall_pps')
import rospy
diff --git a/pps_ws/src/d_fall_pps/include/CentralManagerService.h b/pps_ws/src/d_fall_pps/include/CentralManagerService.h
index 3f8ac12144cb9144f6749beea88d0c6d10e5719d..7f6414c17cf613daf03dd7b1178665e633a733a6 100644
--- a/pps_ws/src/d_fall_pps/include/CentralManagerService.h
+++ b/pps_ws/src/d_fall_pps/include/CentralManagerService.h
@@ -1,3 +1,35 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Header for the service that manages the context of the student groups.
+//
+// ----------------------------------------------------------------------------------
+
+
//for field command in CMCommand
#define CMD_SAVE 1
#define CMD_RELOAD 2
diff --git a/pps_ws/src/d_fall_pps/include/CrazyflieIO.h b/pps_ws/src/d_fall_pps/include/CrazyflieIO.h
index d736fe522044f766fe5f500df3a4c5a4fd34a55f..fa4e25738fdea1f25235730d9e0855ef33480248 100644
--- a/pps_ws/src/d_fall_pps/include/CrazyflieIO.h
+++ b/pps_ws/src/d_fall_pps/include/CrazyflieIO.h
@@ -1,3 +1,35 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Header for the Input/Output stream from the Crazyflie.
+//
+// ----------------------------------------------------------------------------------
+
+
#include "d_fall_pps/CrazyflieDB.h"
namespace d_fall_pps {
diff --git a/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp b/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
index c1e2c0586c5023d8ebde444c0bc2d4042cd56348..9fd5332f33c9026d5580a32ecc3a50d73775cc4f 100755
--- a/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
@@ -1,18 +1,34 @@
-// The service that manages the context of the student groups.
-// Copyright (C) 2017 Cyrill Burgener, Marco Mueller, Philipp Friedli
+// Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// The service that manages the context of the student groups.
+//
+// ----------------------------------------------------------------------------------
+
#include <stdlib.h>
#include <ros/ros.h>
diff --git a/pps_ws/src/d_fall_pps/src/CircleControllerService.cpp b/pps_ws/src/d_fall_pps/src/CircleControllerService.cpp
index 6a3fe81157a80e615719284d78cd4bc6f7cee4e1..0f6c387a8232d16b588ead699b0e90c5b94238be 100755
--- a/pps_ws/src/d_fall_pps/src/CircleControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CircleControllerService.cpp
@@ -1,18 +1,34 @@
-// Alternate controller that is expected to work.
-// Copyright (C) 2017 Cyrill Burgener, Marco Mueller, Philipp Friedli
+// Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Alternate controller that flies the quadcopter in a circle.
+//
+// ----------------------------------------------------------------------------------
+
#include <math.h>
#include <stdlib.h>
diff --git a/pps_ws/src/d_fall_pps/src/CrazyflieIO.cpp b/pps_ws/src/d_fall_pps/src/CrazyflieIO.cpp
index 6e493015e73a87d9e6ceb75e2c1f0447284dd93e..8ef32d752add884b534b2ec4192364fd807423dc 100644
--- a/pps_ws/src/d_fall_pps/src/CrazyflieIO.cpp
+++ b/pps_ws/src/d_fall_pps/src/CrazyflieIO.cpp
@@ -1,18 +1,34 @@
-// Alternate controller that is expected to work.
-// Copyright (C) 2017 Cyrill Burgener, Marco Mueller, Philipp Friedli
+// Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// This manages the Input/Output stream from the Crazyflie
+//
+// ----------------------------------------------------------------------------------
+
#include "CrazyflieIO.h"
#include <stdlib.h>
diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index c51248557e273232402bbe5680c1c5709374143b..b7806699d76ba8e2cfff622c5f12aeb6408c79eb 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -1,18 +1,33 @@
-// Place for students to implement their controller
-// Copyright (C) 2017 Cyrill Burgener, Marco Mueller, Philipp Friedli
+// Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Place for students to implement their controller
+//
+// ----------------------------------------------------------------------------------
//some useful libraries
diff --git a/pps_ws/src/d_fall_pps/src/FollowCrazyflieService.cpp b/pps_ws/src/d_fall_pps/src/FollowCrazyflieService.cpp
index 1a90940541e467478cd608b4bc230ded1666e71e..1b36613f44bb275636ceff2fc4adc2ee772efab9 100755
--- a/pps_ws/src/d_fall_pps/src/FollowCrazyflieService.cpp
+++ b/pps_ws/src/d_fall_pps/src/FollowCrazyflieService.cpp
@@ -1,18 +1,34 @@
-// Alternate controller that is expected to work.
-// Copyright (C) 2017 Cyrill Burgener, Marco Mueller, Philipp Friedli
+// Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Controller that follows the position of another Crazyflie
+//
+// ----------------------------------------------------------------------------------
+
#include <math.h>
#include <stdlib.h>
diff --git a/pps_ws/src/d_fall_pps/src/FollowN_1Service.cpp b/pps_ws/src/d_fall_pps/src/FollowN_1Service.cpp
index 2e4f78e3b5a48f10887aebdc5db71e100c2df7fe..84dec28c5a6ab657e49679213c809a84348e6ccf 100644
--- a/pps_ws/src/d_fall_pps/src/FollowN_1Service.cpp
+++ b/pps_ws/src/d_fall_pps/src/FollowN_1Service.cpp
@@ -1,18 +1,34 @@
-// Alternate controller that is expected to work.
-// Copyright (C) 2017 Angel Romero, Cyrill Burgener, Marco Mueller, Philipp Friedli
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Controller that follows the Crazyflie with ID N-1
+//
+// ----------------------------------------------------------------------------------
+
#include <math.h>
#include <stdlib.h>
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index ae0771ed699345847e444cf4cea2301fa5d5d8bc..0bdf945820e024a937fdaed560f1f630d1429dcd 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -1,18 +1,34 @@
-// ROS node that manages the student's setup.
-// Copyright (C) 2017 Cyrill Burgener, Marco Mueller, Philipp Friedli
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// ROS node that manages the student's setup.
+//
+// ----------------------------------------------------------------------------------
+
#include "ros/ros.h"
#include <stdlib.h>
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index de0ce9c40713a532f24c074e657ce660c435d105..b2b97da3623b53b0bcb7a654c26bf7104032dd0c 100755
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -1,18 +1,34 @@
-// Alternate controller that is expected to work.
-// Copyright (C) 2017 Cyrill Burgener, Marco Mueller, Philipp Friedli
+// Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// The fall-back controller that keeps the Crazyflie safe
+//
+// ----------------------------------------------------------------------------------
+
#include <math.h>
#include <stdlib.h>
diff --git a/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp b/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp
index b9b3424d496f96f6204ea4f8c52e17a0995eb435..2c9170a6a0225b6d8b12a3422e36ae0339c2d70c 100755
--- a/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp
+++ b/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp
@@ -1,18 +1,34 @@
-// ROS node that publishes the data from the Vicon system
-// Copyright (C) 2017 Dusan Zikovic, Cyrill Burgener, Marco Mueller, Philipp Friedli
+// Copyright (C) 2017, ETH Zurich, D-ITET, Dusan Zikovic, Cyrill Burgener, Marco Mueller, Philipp Friedli
//
-// This program is free software: you can redistribute it and/or modify
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful,
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
-//
+//
// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// ROS node that publishes the data from the Vicon system
+//
+// ----------------------------------------------------------------------------------
+
#include <string.h>
#include "DataStreamClient.h"