diff --git a/src/Messages/BinaryMsg.cs b/src/Messages/BinaryMsg.cs
index f91f496..d2c0570 100644
--- a/src/Messages/BinaryMsg.cs
+++ b/src/Messages/BinaryMsg.cs
@@ -9,7 +9,7 @@ namespace RoboidControl {
         /// </summary>
         public const byte Id = 0xB1;
         /// <summary>
-        /// The length of the message, excluding the binary data
+        /// The length of the message in bytes, excluding the binary data
         /// </summary>
         /// For the total size of the message this.bytes.Length should be added to this value.
         public const byte length = 4;
diff --git a/src/Messages/DestroyMsg.cs b/src/Messages/DestroyMsg.cs
index 87eaf5b..f7d3425 100644
--- a/src/Messages/DestroyMsg.cs
+++ b/src/Messages/DestroyMsg.cs
@@ -9,7 +9,7 @@ namespace RoboidControl {
         /// </summary>
         public const byte Id = 0x20;
         /// <summary>
-        /// The length of the message
+        /// The length of the message in bytres
         /// </summary>
         public const byte length = 3;
         /// <summary>
@@ -34,13 +34,16 @@ namespace RoboidControl {
         public DestroyMsg(byte[] buffer) : base(buffer) {
             this.networkId = buffer[1];
             this.thingId = buffer[2];
-         }
+        }
 
         /// @copydoc Passer::RoboidControl::IMessage::Serialize
         public override byte Serialize(ref byte[] buffer) {
             if (buffer.Length < DestroyMsg.length)
                 return 0;
-            
+
+#if DEBUG
+            System.Console.WriteLine($"Send DestroyMsg [{this.networkId}/{this.thingId}]");
+#endif
             byte ix = 0;
             buffer[ix++] = DestroyMsg.Id;
             buffer[ix++] = this.networkId;
diff --git a/src/Messages/Messages.cs b/src/Messages/IMessage.cs
similarity index 95%
rename from src/Messages/Messages.cs
rename to src/Messages/IMessage.cs
index 2fa0045..c299c50 100644
--- a/src/Messages/Messages.cs
+++ b/src/Messages/IMessage.cs
@@ -11,7 +11,6 @@ namespace RoboidControl {
         /// </summary>
         /// <param name="buffer">The byte array to parse</param>
         public IMessage(byte[] buffer) {
-            //Deserialize(buffer);
         }
 
         /// <summary>
diff --git a/src/Messages/InvestigateMsg.cs b/src/Messages/InvestigateMsg.cs
index 08d54d9..7ebcc01 100644
--- a/src/Messages/InvestigateMsg.cs
+++ b/src/Messages/InvestigateMsg.cs
@@ -9,7 +9,7 @@ namespace RoboidControl {
         /// </summary>
         public const byte Id = 0x81;
         /// <summary>
-        /// The length of the message
+        /// /// The length of the message
         /// </summary>
         public const byte length = 3;
         /// <summary>
@@ -22,13 +22,13 @@ namespace RoboidControl {
         public byte thingId;
 
         /// <summary>
-        /// Create a new message for sending
+        /// Create an investigate message
         /// </summary>
         /// <param name="networkId">The network ID for the thing</param>
-        /// <param name="thingId">The ID of the thing</param>
-        public InvestigateMsg(byte networkId, byte thingId) {
+        /// <param name="thing">The thing for which the details are requested</param>
+        public InvestigateMsg(byte networkId, Thing thing) {
             this.networkId = networkId;
-            this.thingId = thingId;
+            this.thingId = thing.id;
         }
         /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public InvestigateMsg(byte[] buffer) : base(buffer) { }
diff --git a/src/Messages/LowLevelMessages.cs b/src/Messages/LowLevelMessages.cs
index 8b2d240..e8c8062 100644
--- a/src/Messages/LowLevelMessages.cs
+++ b/src/Messages/LowLevelMessages.cs
@@ -8,7 +8,6 @@ namespace RoboidControl {
             SendAngle8(buffer, ref ix, v.direction.horizontal);
             SendAngle8(buffer, ref ix, v.direction.vertical);
         }
-
         public static Spherical ReceiveSpherical(byte[] data, ref byte ix) {
             float distance = ReceiveFloat16(data, ref ix);
             float horizontal = ReceiveAngle8(data, ref ix);
@@ -17,11 +16,6 @@ namespace RoboidControl {
             return v;
         }
 
-        public static void SendQuat32(byte[] buffer, ref byte ix, SwingTwist s) {
-            Quat32 q32 = Quat32.FromSwingTwist(s);
-            SendQuat32(buffer, ref ix, q32);
-
-        }
         public static void SendQuat32(byte[] buffer, ref byte ix, Quat32 q) {
             int qx = (int)(q.x * 127 + 128);
             int qy = (int)(q.y * 127 + 128);
@@ -48,6 +42,11 @@ namespace RoboidControl {
             return q;
         }
 
+        public static void SendQuat32(byte[] buffer, ref byte ix, SwingTwist s) {
+            Quat32 q32 = Quat32.FromSwingTwist(s);
+            SendQuat32(buffer, ref ix, q32);
+
+        }
         public static SwingTwist ReceiveSwingTwist(byte[] data, ref byte ix) {
             Quat32 q32 = ReceiveQuat32(data, ref ix);
             // UnityEngine.Quaternion q = new(q32.x, q32.y, q32.z, q32.w);
@@ -66,7 +65,6 @@ namespace RoboidControl {
             sbyte value = (sbyte)(angle / 360.0f * 256.0f);
             buffer[ix++] = (byte)value;
         }
-
         public static float ReceiveAngle8(byte[] data, ref byte ix) {
             float value = (data[ix++] * 180) / 128.0F;
             return value;
@@ -83,7 +81,6 @@ namespace RoboidControl {
             data[ix++] = (byte)((binary >> 8) & 0xFF);
             data[ix++] = (byte)(binary & 0xFF);
         }
-
         public static float ReceiveFloat16(byte[] data, ref byte ix) {
             byte msb = data[ix++];
             byte lsb = data[ix++];
diff --git a/src/Messages/ModelUrlMsg.cs b/src/Messages/ModelUrlMsg.cs
index 64efac5..9932281 100644
--- a/src/Messages/ModelUrlMsg.cs
+++ b/src/Messages/ModelUrlMsg.cs
@@ -40,18 +40,6 @@ namespace RoboidControl {
             this.urlLength = (byte)thing.modelUrl.Length;
             this.url = thing.modelUrl;
         }
-        /// <summary>
-        /// Create a new message for sending
-        /// </summary>
-        /// <param name="networkId">The network ID of the thing</param>
-        /// <param name="thingId">The ID of the thing</param>
-        /// <param name="url">The URL to send</param>
-        // public ModelUrlMsg(byte networkId, byte thingId, string url) {
-        //     this.networkId = networkId;
-        //     this.thingId = thingId;
-        //     this.urlLength = (byte)url.Length;
-        //     this.url = url;
-        // }
         /// @copydoc Passer::RoboidControl::IMessage::IMessage(byte[] buffer)
         public ModelUrlMsg(byte[] buffer) {
             byte ix = 1;
diff --git a/src/Messages/PoseMsg.cs b/src/Messages/PoseMsg.cs
index 123a2e5..f0d24a9 100644
--- a/src/Messages/PoseMsg.cs
+++ b/src/Messages/PoseMsg.cs
@@ -66,28 +66,8 @@ namespace RoboidControl {
         /// Create a new message for sending
         /// </summary>
         /// <param name="networkId">The network ID of the thing</param>
-        /// <param name="thingId">The ID of the thing</param>
-        /// <param name="position">The position of the thing in local space in meters</param>
-        /// <param name="orientation">The orientation of the thing in local space</param>
-        public PoseMsg(byte networkId, byte thingId, Spherical position, SwingTwist orientation, Spherical linearVelocity = null, Spherical angularVelocity = null) {
-            this.networkId = networkId;
-            this.thingId = thingId;
-
-            this.poseType = 0;
-            if (this.position != null)
-                this.poseType |= Pose_Position;
-            if (this.orientation != null)
-                this.poseType |= Pose_Orientation;
-            if (this.linearVelocity != null)
-                this.poseType |= Pose_LinearVelocity;
-            if (this.angularVelocity != null)
-                this.poseType |= Pose_AngularVelocity;
-
-            this.position = position;
-            this.orientation = orientation;
-            this.linearVelocity = linearVelocity;
-            this.angularVelocity = angularVelocity;
-        }
+        /// <param name="thing">The thing for which the pose should be sent</param>
+        /// <param name="force">If true, position and orientation are always included, even when they are not updated</param>
         public PoseMsg(byte networkId, Thing thing, bool force = false) {
             this.networkId = networkId;
             this.thingId = thing.id;
diff --git a/src/Messages/ThingMsg.cs b/src/Messages/ThingMsg.cs
index bf93a75..c0f3c8c 100644
--- a/src/Messages/ThingMsg.cs
+++ b/src/Messages/ThingMsg.cs
@@ -1,7 +1,7 @@
 namespace RoboidControl {
 
     /// <summary>
-    /// Message providing generic information about a Thing
+    /// Message providing generic details about a Thing
     /// </summary>
     public class ThingMsg : IMessage {
         /// <summary>
@@ -21,11 +21,11 @@ namespace RoboidControl {
         /// </summary>
         public byte thingId;
         /// <summary>
-        /// The Thing.Type of the thing
+        /// The type of thing
         /// </summary>
         public byte thingType;
         /// <summary>
-        /// The parent of the thing in the hierarachy. This is null for root Things
+        /// The ID of the parent thing in the hierarchy. This is zero for root things
         /// </summary>
         public byte parentId;
 
@@ -44,19 +44,6 @@ namespace RoboidControl {
                 this.parentId = 0;
         }
         /// <summary>
-        /// Create a message for sending
-        /// </summary>
-        /// <param name="networkId">The network ID of the thing</param>
-        /// <param name="thingId">The ID of the thing</param>
-        /// <param name="thingType">The type of thing</param>
-        /// <param name="parentId">The parent of the thing</param>
-        public ThingMsg(byte networkId, byte thingId, byte thingType, byte parentId) {
-            this.networkId = networkId;
-            this.thingId = thingId;
-            this.thingType = thingType;
-            this.parentId = parentId;
-        }
-        /// <summary>
         /// Create a message for receiving
         /// </summary>
         /// <param name="buffer">The byte array to parse</param>