reset unrelated variables to base branch, fixed typos

esp32/include/communication/comm_base.hpp

@@ -44,7 +44,7 @@ class CommAdapterBase {
         size_t out_size;
         pb_get_encoded_size(&out_size, socket_message_Message_fields, &msg_);
         uint8_t *buffer = pb_heap_enc_buf;
-        if (out_size > sizeof(pb_heap_enc_buf)) { // It the encoded size exceeds our buffer size, we needs to malloc a buffer of a proper size
+        if (out_size > sizeof(pb_heap_enc_buf)) { // If the encoded size exceeds our buffer size, we needs to malloc a buffer of a proper size
             buffer = (uint8_t*) malloc(out_size);
         }