diff --git a/src/modules/ackermann_drive/AckermannDrive.cpp b/src/modules/ackermann_drive/AckermannDrive.cpp
index c0b9097f58..753ffb0348 100644
--- a/src/modules/ackermann_drive/AckermannDrive.cpp
+++ b/src/modules/ackermann_drive/AckermannDrive.cpp
@@ -35,13 +35,10 @@
 
 using namespace time_literals;
 using namespace matrix;
-// namespace AckermannDrive
-// {
 
 AckermannDrive::AckermannDrive() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
-	// _differential_drive_control(this)
 {
 	updateParams();
 }
@@ -64,13 +61,7 @@ void AckermannDrive::Run()
 		exit_and_cleanup();
 	}
 
-	if (_param_ca_airframe.get() == DIFFERENTIAL_DRIVE) {
-		// _differential_drive_control.Update();
-		return;
-
-	} else if (_param_ca_airframe.get() == ACKERMANN_DRIVE) {
-		_ackermann_drive_control.Update();
-	}
+	_ackermann_drive_control.Update();
 }
 
 int AckermannDrive::task_spawn(int argc, char *argv[])
@@ -123,5 +114,3 @@ extern "C" __EXPORT int ackermann_drive_main(int argc, char *argv[])
 {
 	return AckermannDrive::main(argc, argv);
 }
-
-// } // namespace rover_control
diff --git a/src/modules/ackermann_drive/AckermannDrive.hpp b/src/modules/ackermann_drive/AckermannDrive.hpp
index 0d807f021f..c82fcc9351 100644
--- a/src/modules/ackermann_drive/AckermannDrive.hpp
+++ b/src/modules/ackermann_drive/AckermannDrive.hpp
@@ -57,16 +57,8 @@
 #include <math.h>
 
 // Local includes
-// #include <DifferentialDriveKinematics.hpp>
-// #include "DifferentialDriveControl.hpp"
 #include "AckermannDriveControl/AckermannDriveControl.hpp"
 
-#define DIFFERENTIAL_DRIVE 6
-#define ACKERMANN_DRIVE 5
-
-// namespace rover_control
-// {
-
 class AckermannDrive : public ModuleBase<AckermannDrive>, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
@@ -91,13 +83,9 @@ protected:
 private:
 	void Run() override;
 
-	// differential_drive_control::DifferentialDriveControl _differential_drive_control{this};
 	differential_drive_control::AckermannDriveControl _ackermann_drive_control{this};
 
-
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::CA_AIRFRAME>) _param_ca_airframe
 	)
 };
-
-// } // namespace rover_control
diff --git a/src/modules/ackermann_drive/module.yaml b/src/modules/ackermann_drive/module.yaml
index 77bd61dda4..423bedbd35 100644
--- a/src/modules/ackermann_drive/module.yaml
+++ b/src/modules/ackermann_drive/module.yaml
@@ -1,7 +1,7 @@
-module_name: Differential Drive Control
+module_name: Ackermann Drive Control
 
 parameters:
-  - group: Rover Differential Drive
+  - group: Rover Ackermann Drive
     definitions:
       RDD_WHEEL_BASE:
         description: