diff --git a/dsdl/uavcan/equipment/256.PerformAutomaticSelfTest.uavcan b/dsdl/uavcan/equipment/256.PerformAutomaticSelfTest.uavcan
index 926105e624..ea5a52e120 100644
--- a/dsdl/uavcan/equipment/256.PerformAutomaticSelfTest.uavcan
+++ b/dsdl/uavcan/equipment/256.PerformAutomaticSelfTest.uavcan
@@ -1,7 +1,6 @@
 #
 # Fast automatic self test request.
-# Use the service uavcan.protocol.GetDataTypeInfo to detect whether this service is supported.
-# If at least one node fails, the mission should be aborted.
+# http://uavcan.org/Standard_data_types_and_application_level_functions#Pre-operational_checks
 #
 
 ---
diff --git a/dsdl/uavcan/equipment/257.PerformAutomaticCalibration.uavcan b/dsdl/uavcan/equipment/257.PerformAutomaticCalibration.uavcan
index 2342cdc5b3..82fd0d1e9d 100644
--- a/dsdl/uavcan/equipment/257.PerformAutomaticCalibration.uavcan
+++ b/dsdl/uavcan/equipment/257.PerformAutomaticCalibration.uavcan
@@ -1,7 +1,6 @@
 #
 # Fast automatic calibration request.
-# Use the service uavcan.protocol.GetDataTypeInfo to detect whether this service is supported.
-# If at least one node fails, the mission should be aborted.
+# http://uavcan.org/Standard_data_types_and_application_level_functions#Pre-operational_checks
 #
 
 ---
diff --git a/dsdl/uavcan/equipment/CoarseOrientation.uavcan b/dsdl/uavcan/equipment/CoarseOrientation.uavcan
index 53a69d80b0..0aec54d582 100644
--- a/dsdl/uavcan/equipment/CoarseOrientation.uavcan
+++ b/dsdl/uavcan/equipment/CoarseOrientation.uavcan
@@ -8,8 +8,8 @@
 # ANGLE_MULTIPLIER = NORM / PI
 #
 # Where NORM is 12, because it:
-#  - Fits the maximum range of the signed 5 bit integer
-#  - Allows to represent the following angles without precision loss:
+#  - Fits the maximum range of a signed 5 bit integer
+#  - Allows to exactly represent the following angles:
 #    0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, and negatives
 #