diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 96bdce69b..b37674b92 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -365,7 +365,7 @@ boost::optional<Pose2> Pose2::Align(const Matrix& a, const Matrix& b) {
       "Pose2:Align expects 2*N matrices of equal shape.");
   }
   Point2Pairs ab_pairs;
-  for (size_t j=0; j < a.cols(); j++) {
+  for (Eigen::Index j = 0; j < a.cols(); j++) {
     ab_pairs.emplace_back(a.col(j), b.col(j));
   }
   return Pose2::Align(ab_pairs);
diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index b88d812a4..2da51a625 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -473,7 +473,7 @@ boost::optional<Pose3> Pose3::Align(const Matrix& a, const Matrix& b) {
       "Pose3:Align expects 3*N matrices of equal shape.");
   }
   Point3Pairs abPointPairs;
-  for (size_t j=0; j < a.cols(); j++) {
+  for (Eigen::Index j = 0; j < a.cols(); j++) {
     abPointPairs.emplace_back(a.col(j), b.col(j));
   }
   return Pose3::Align(abPointPairs);
diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h
index 10c33d101..c7d82975a 100644
--- a/gtsam/navigation/AHRSFactor.h
+++ b/gtsam/navigation/AHRSFactor.h
@@ -90,7 +90,11 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
 
   /**
    * Add a single Gyroscope measurement to the preintegration.
-   * @param measureOmedga Measured angular velocity (in body frame)
+   * Measurements are taken to be in the sensor
+   * frame and conversion to the body frame is handled by `body_P_sensor` in
+   * `PreintegratedRotationParams` (if provided).
+   *
+   * @param measuredOmega Measured angular velocity (as given by the sensor)
    * @param deltaT Time step
    */
   void integrateMeasurement(const Vector3& measuredOmega, double deltaT);
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index 068a17ca4..213f5f223 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -208,8 +208,11 @@ public:
 
   /**
    * Add a single IMU measurement to the preintegration.
-   * @param measuredAcc Measured acceleration (in body frame, as given by the
-   * sensor)
+   * Both accelerometer and gyroscope measurements are taken to be in the sensor
+   * frame and conversion to the body frame is handled by `body_P_sensor` in
+   * `PreintegrationParams`.
+   *
+   * @param measuredAcc Measured acceleration (as given by the sensor)
    * @param measuredOmega Measured angular velocity (as given by the sensor)
    * @param dt Time interval between two consecutive IMU measurements
    */
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 35207e452..740827162 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -121,7 +121,11 @@ public:
 
   /**
    * Add a single IMU measurement to the preintegration.
-   * @param measuredAcc Measured acceleration (in body frame, as given by the sensor)
+   * Both accelerometer and gyroscope measurements are taken to be in the sensor
+   * frame and conversion to the body frame is handled by `body_P_sensor` in
+   * `PreintegrationParams`.
+   *
+   * @param measuredAcc Measured acceleration (as given by the sensor)
    * @param measuredOmega Measured angular velocity (as given by the sensor)
    * @param dt Time interval between this and the last IMU measurement
    */