diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index 2b62e6375f..2485253a26 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -91,12 +91,12 @@ public:
 protected:
 	static constexpr int _timeout = 500000; /*< maximal time in us before a loop or data times out */
 
-	float _time = 0; /*< passed time in seconds since the task was activated */
-	float _deltatime = 0; /*< passed time in seconds since the task was last updated */
+	float _time = 0; /**< passed time in seconds since the task was activated */
+	float _deltatime = 0; /**< passed time in seconds since the task was last updated */
 
 	/* Current vehicle position for every task */
-	matrix::Vector3f _position; /*< current vehicle position */
-	matrix::Vector3f _velocity; /*< current vehicle velocity */
+	matrix::Vector3f _position; /**< current vehicle position */
+	matrix::Vector3f _velocity; /**< current vehicle velocity */
 	float _yaw = 0.f;
 
 	/**
@@ -122,11 +122,10 @@ protected:
 private:
 	uORB::Subscription<vehicle_local_position_s> _sub_vehicle_local_position;
 
-	hrt_abstime _starting_time_stamp = 0; /*< time stamp when task was activated */
-	hrt_abstime _last_time_stamp = 0; /*< time stamp when task was last updated */
+	hrt_abstime _starting_time_stamp = 0; /**< time stamp when task was activated */
+	hrt_abstime _last_time_stamp = 0; /**< time stamp when task was last updated */
 
-	/* Output position setpoint that every task has */
-	vehicle_local_position_setpoint_s _vehicle_local_position_setpoint;
+	vehicle_local_position_setpoint_s _vehicle_local_position_setpoint; /**< Output position setpoint that every task has */
 
 	void _evaluate_vehicle_position();
 };
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
index eb58d5ec91..f0b8eb6d0c 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
@@ -105,7 +105,7 @@ private:
 
 
 	/* --- Acceleration Smoothing --- */
-	static constexpr uint64_t DIRECTION_CHANGE_TIME_US = 1e5; /** Time in us to switch into direction change state */
+	static constexpr uint64_t DIRECTION_CHANGE_TIME_US = 1e5; /**< Time in us to switch into direction change state */
 
 	control::BlockParamFloat _jerk_hor_max; /**< maximum jerk only applied when braking to zero */
 	control::BlockParamFloat _jerk_hor_min; /**< minimum jerk only applied when braking to zero */
@@ -118,7 +118,7 @@ private:
 	control::BlockParamFloat _rc_flt_cutoff; /**< cutoff frequency for stick lowpass filter */
 
 	matrix::Vector2f _stick_input_xy_prev;
-	matrix::Vector3f _vel_sp_prev; /* velocity setpoint of last loop to calculate setpoint slewrate - acceleration */
+	matrix::Vector3f _vel_sp_prev; /**< velocity setpoint of last loop to calculate setpoint slewrate - acceleration */
 	enum stick_user_intention {
 		brake,
 		direction_change,
diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
index 344d496000..44683ee029 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
@@ -48,11 +48,11 @@ using namespace matrix;
 int FlightTaskOrbit::activate()
 {
 	FlightTask::activate();
-	r = 1.f;
-	v =  0.5f;
-	z = _position(2);
+	_r = 1.f;
+	_v =  0.5f;
+	_z = _position(2);
 	_center = Vector2f(_position.data());
-	_center(0) -= r;
+	_center(0) -= _r;
 	return 0;
 }
 
@@ -66,25 +66,25 @@ int FlightTaskOrbit::update()
 {
 	int ret = FlightTaskManual::update();
 
-	r += _sticks(0) * _deltatime;
-	r = math::constrain(r, 1.f, 20.f);
-	v -= _sticks(1) * _deltatime;
-	v = math::constrain(v, -7.f, 7.f);
-	z += _sticks(2) * _deltatime;
+	_r += _sticks(0) * _deltatime;
+	_r = math::constrain(_r, 1.f, 20.f);
+	_v -= _sticks(1) * _deltatime;
+	_v = math::constrain(_v, -7.f, 7.f);
+	_z += _sticks(2) * _deltatime;
 
 	Vector2f center_to_position = Vector2f(_position.data()) - _center;
 
 	/* xy velocity to go around in a circle */
 	Vector2f velocity_xy = Vector2f(center_to_position(1), -center_to_position(0));
 	velocity_xy = velocity_xy.unit_or_zero();
-	velocity_xy *= v;
+	velocity_xy *= _v;
 
 	/* xy velocity adjustment to stay on the radius distance */
-	velocity_xy += (r - center_to_position.norm()) * center_to_position.unit_or_zero();
+	velocity_xy += (_r - center_to_position.norm()) * center_to_position.unit_or_zero();
 
 	float yaw = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
 
-	_set_position_setpoint(Vector3f(NAN, NAN, z));
+	_set_position_setpoint(Vector3f(NAN, NAN, _z));
 	_set_velocity_setpoint(Vector3f(velocity_xy(0), velocity_xy(1), 0.f));
 	_set_yaw_setpoint(yaw);
 	return ret;
diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
index a00c5962e4..ed4345fe3a 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
@@ -57,9 +57,9 @@ public:
 
 private:
 
-	float r = 0.f; /* radius with which to orbit the target */
-	float v =  0.f; /* linear velocity for orbiting in m/s */
-	float z = 0.f; /* local z coordinate in meters */
+	float _r = 0.f; /**< radius with which to orbit the target */
+	float _v = 0.f; /**< linear velocity for orbiting in m/s */
+	float _z = 0.f; /**< local z coordinate in meters */
 	matrix::Vector2f _center;
 
 };