diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
index 00add0b3a8..f05147c054 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
@@ -201,11 +201,10 @@ bool FlightTaskAuto::_evaluateTriplets()
 	}
 
 	// Calculate the current vehicle state and check if it has updated.
-	State _previous_state = _current_state;
+	State previous_state = _current_state;
 	_current_state = _getCurrentState();
-	bool state_update = (_current_state != _previous_state) ? true : false;
 
-	if (triplet_update || state_update) {
+	if (triplet_update || (_current_state != previous_state)) {
 		_updateInternalWaypoints();
 	}
 
@@ -276,6 +275,7 @@ State FlightTaskAuto::_getCurrentState()
 	Vector2f u_prev_to_target = Vector2f(&(_triplet_target - _triplet_prev_wp)(0)).unit_or_zero();
 	Vector2f pos_to_target = Vector2f(&(_triplet_target - _position)(0));
 	Vector2f prev_to_pos = Vector2f(&(_position - _triplet_prev_wp)(0));
+	// Calculate the closest point to the vehicle position on the line prev_wp - target
 	_closest_pt = Vector2f(&_triplet_prev_wp(0)) + u_prev_to_target * (prev_to_pos * u_prev_to_target);
 
 	State return_state = State::none;
diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
index 065737706d..c5c1a45922 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp
@@ -109,11 +109,10 @@ private:
 
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
 
-	matrix::Vector3f _triplet_target;
-	matrix::Vector3f _triplet_prev_wp;
-	matrix::Vector3f _triplet_next_wp;
-	matrix::Vector2f _closest_pt;
-
+	matrix::Vector3f _triplet_target; /**< current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state. */
+	matrix::Vector3f _triplet_prev_wp; /**< previous triplet from navigator which may differ from the intenal one (_prev_wp) depending on the vehicle state.*/
+	matrix::Vector3f _triplet_next_wp; /**< next triplet from navigator which may differ from the intenal one (_next_wp) depending on the vehicle state.*/
+	matrix::Vector2f _closest_pt; /**< closest point to the vehicle position on the line previous - target */
 
 	map_projection_reference_s _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */
 	float _reference_altitude = NAN;  /**< Altitude relative to ground. */
@@ -123,5 +122,5 @@ private:
 	bool _isFinite(const position_setpoint_s sp); /**< Checks if all waypoint triplets are finite. */
 	bool _evaluateGlobalReference(); /**< Check is global reference is available. */
 	float _getVelocityFromAngle(const float angle); /**< Computes the speed at target depending on angle. */
-	State _getCurrentState();
+	State _getCurrentState(); /**< Computes the current vehicle state based on the vehicle position and navigator triplets. */
 };