diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp
index 29619f3e9d..668a36429a 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand.cpp
@@ -135,7 +135,7 @@ void AC_PrecLand::calc_angles_and_pos(float alt_above_terrain_cm)
         return;
     }
 
-    // get body-frame angles to target from backend
+    // get angles to target from backend
     if (!_backend->get_angle_to_target(_angle_to_target.x, _angle_to_target.y)) {
         _have_estimate = false;
         return;
diff --git a/libraries/AC_PrecLand/AC_PrecLand.h b/libraries/AC_PrecLand/AC_PrecLand.h
index 17cd41b8c0..4650928831 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.h
+++ b/libraries/AC_PrecLand/AC_PrecLand.h
@@ -72,7 +72,7 @@ public:
 private:
 
     // calc_angles_and_pos - converts sensor's body-frame angles to earth-frame angles and position estimate
-    //  body-frame angles stored in _bf_angle_to_target
+    //  angles stored in _angle_to_target
     //  earth-frame angles stored in _ef_angle_to_target
     //  position estimate is stored in _target_pos
     void calc_angles_and_pos(float alt_above_terrain_cm);
diff --git a/libraries/AC_PrecLand/AC_PrecLand_Backend.h b/libraries/AC_PrecLand/AC_PrecLand_Backend.h
index 5c5ffdfc7d..6fc5559480 100644
--- a/libraries/AC_PrecLand/AC_PrecLand_Backend.h
+++ b/libraries/AC_PrecLand/AC_PrecLand_Backend.h
@@ -29,10 +29,10 @@ public:
     // what frame of reference is our sensor reporting in?
     virtual MAV_FRAME get_frame_of_reference();
 
-    // get_angle_to_target - returns body frame angles (in radians) to target
+    // get_angle_to_target - returns angles (in radians) to target
     //  returns true if angles are available, false if not (i.e. no target)
-    //  x_angle_rad : body-frame roll direction, positive = target is to right (looking down)
-    //  y_angle_rad : body-frame pitch direction, postiive = target is forward (looking down)
+    //  x_angle_rad : roll direction, positive = target is to right (looking down)
+    //  y_angle_rad : pitch direction, postiive = target is forward (looking down)
     virtual bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) = 0;
 
     // handle_msg - parses a mavlink message from the companion computer
diff --git a/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp b/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
index 8b91488188..2f2142ab67 100644
--- a/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
@@ -32,10 +32,10 @@ MAV_FRAME AC_PrecLand_Companion::get_frame_of_reference()
     return _frame;
 }
 
-// get_angle_to_target - returns body frame angles (in radians) to target
+// get_angle_to_target - returns angles (in radians) to target
 //  returns true if angles are available, false if not (i.e. no target)
-//  x_angle_rad : body-frame roll direction, positive = target is to right (looking down)
-//  y_angle_rad : body-frame pitch direction, postiive = target is forward (looking down)
+//  x_angle_rad : roll direction, positive = target is to right (looking down)
+//  y_angle_rad : pitch direction, postiive = target is forward (looking down)
 bool AC_PrecLand_Companion::get_angle_to_target(float &x_angle_rad, float &y_angle_rad)
 {
     if (_new_estimate){
diff --git a/libraries/AC_PrecLand/AC_PrecLand_Companion.h b/libraries/AC_PrecLand/AC_PrecLand_Companion.h
index a7c56a0c3e..4949d9bd91 100644
--- a/libraries/AC_PrecLand/AC_PrecLand_Companion.h
+++ b/libraries/AC_PrecLand/AC_PrecLand_Companion.h
@@ -27,10 +27,10 @@ public:
     // what frame of reference is our sensor reporting in?
     MAV_FRAME get_frame_of_reference();
 
-    // get_angle_to_target - returns body frame angles (in radians) to target
+    // get_angle_to_target - returns angles (in radians) to target
     //  returns true if angles are available, false if not (i.e. no target)
-    //  x_angle_rad : body-frame roll direction, positive = target is to right (looking down)
-    //  y_angle_rad : body-frame pitch direction, postiive = target is forward (looking down)
+    //  x_angle_rad : roll direction, positive = target is to right (looking down)
+    //  y_angle_rad : pitch direction, postiive = target is forward (looking down)
     bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad);
 
     // handle_msg - parses a mavlink message from the companion computer
@@ -40,7 +40,7 @@ private:
 
     // output from camera
     MAV_FRAME           _frame;                 // what frame of reference is our sensor reporting in?
-    Vector2f            _angle_to_target;       // last body-frame angle to target
+    Vector2f            _angle_to_target;       // last angle to target
     float               _distance_to_target;    // distance from the camera to target in meters
     uint64_t            _timestamp_us;          // timestamp when the image was captured(synced via UAVCAN)
     bool                _new_estimate;          // true if new data from the camera has been received