diff --git a/src/Tests/Level_0/rtps_builtin_endpoint_test1.vhd b/src/Tests/Level_0/rtps_builtin_endpoint_test1.vhd
index 48166e7..65f555e 100644
--- a/src/Tests/Level_0/rtps_builtin_endpoint_test1.vhd
+++ b/src/Tests/Level_0/rtps_builtin_endpoint_test1.vhd
@@ -10,6 +10,16 @@ use work.user_config.all;
 use work.rtps_config_package.all;
 use work.rtps_test_package.all;
 
+-- This testbench tests the matching of remote participants. Due to the fact, that participant matching does not have an immediate effect visible to the outside,
+-- this testbench is using external names to access the memory of the rtps_builtin_endpoint directly and check the contents at the supposed participant locations.
+-- This testbench covers following:
+--  * Mathing compatible Participants
+--  * Ignoring incompatible Participants
+--  * Unmatching previously matched Participants (Due to incompatibility)
+--  * Update data of previously matched Participant
+--  * Big/Little Endian Participant Data
+
+
 entity rtps_builtin_endpoint_test1 is
 end entity;
 
diff --git a/src/Tests/Level_0/rtps_builtin_endpoint_test2.vhd b/src/Tests/Level_0/rtps_builtin_endpoint_test2.vhd
index 284fe6a..1a3272d 100644
--- a/src/Tests/Level_0/rtps_builtin_endpoint_test2.vhd
+++ b/src/Tests/Level_0/rtps_builtin_endpoint_test2.vhd
@@ -10,6 +10,9 @@ use work.user_config.all;
 use work.rtps_config_package.all;
 use work.rtps_test_package.all;
 
+-- This testbench tests the matching of remote endpoints. This is done by checking the Match/Unmatch Frame sent to the local endpoints.
+-- The local participant is configured with following endpoints (called "fixed" endpoints):
+-- NOTE: All Endpoints are configured with topic "TOPIC_1" and type "TYPE_1", except is explicitly stated otherwise.
 -- WRITER 0
 --  * DEFAULT
 -- WRITER 1
@@ -48,7 +51,6 @@ use work.rtps_test_package.all;
 --  * USER_DATA                                     "USER_DATA"
 --  * TOPIC_DATA                                    "TOPIC_DATA"
 --  * GROUP_DATA                                    "GROUP_DATA"
-
 -- READER 0
 --  * DEFAULT
 -- READER 1
@@ -90,6 +92,9 @@ use work.rtps_test_package.all;
 -- READER 16
 --  * DESTINATION_ORDER     BY_SOURCE_TIMESTAMP
 
+-- The testbench announces 3 remote Participants. Participant 0 and 1 contain the same endpoints as our local Participant, but Participant 1 announces everything in Little Endian format.
+-- Participant 2 announces extra endpoints to test matching for Readers/Writers with unsupported/ignored QoS
+
 
 entity rtps_builtin_endpoint_test2 is
 end entity;
diff --git a/src/Tests/Level_0/rtps_builtin_endpoint_test3.vhd b/src/Tests/Level_0/rtps_builtin_endpoint_test3.vhd
index 3e28686..b75944e 100644
--- a/src/Tests/Level_0/rtps_builtin_endpoint_test3.vhd
+++ b/src/Tests/Level_0/rtps_builtin_endpoint_test3.vhd
@@ -10,6 +10,35 @@ use work.user_config.all;
 use work.rtps_config_package.all;
 use work.rtps_test_package.all;
 
+-- This testbench tests the input handling of parameter lists. We issue one parameter list with invalid parameter length (less than expected) 
+-- and one with valid larger parameter length (extra Bytes after expected parameter end) for each of the parameters that are handled by the built-in endpoint.
+-- We also issue a parameter list that is missing its sentinel.
+-- The PIDs handled are:
+--  * PID_PARTICIPANT_GUID
+--  * PID_DOMAIN_ID
+--  * PID_DOMAIN_TAG
+--  * PID_PROTOCOL_VERSION
+--  * PID_PARTICIPANT_LEASE_DURATION
+--  * PID_BUILTIN_ENDPOINT_SET
+--  * PID_DEFAULT_UNICAST_LOCATOR
+--  * PID_DEFAULT_MULTICAST_LOCATOR
+--  * PID_METATRAFFIC_UNICAST_LOCATOR
+--  * PID_METATRAFFIC_MULTICAST_LOCATOR
+--  * PID_TOPIC_NAME
+--  * PID_TYPE_NAME
+--  * PID_DURABILITY
+--  * PID_DEADLINE
+--  * PID_LIVELINESS
+--  * PID_RELIABILITY
+--  * PID_DESTINATION_ORDER
+--  * PID_OWNERSHIP
+--  * PID_PRESENTATION
+--  * PID_LATENCY_BUDGET
+--  * PID_ENDPOINT_GUID
+--  * PID_EXPECTS_INLINE_QOS
+--  * PID_DATA_MAX_SIZE_SERIALIZED
+--  * PID_UNICAST_LOCATOR
+--  * PID_MULTICAST_LOCATOR
 
 entity rtps_builtin_endpoint_test3 is
 end entity;
@@ -591,6 +620,19 @@ begin
         sub.data    := EMPTY_TEST_PACKET;
         p0_sn       := p0_sn + 1;
         
+        -- *PID_SENTINEL*
+        Log("Ignore Endpoint [No PID_SENTINEL]", INFO);
+        sub_p.writerSN              := p0_snp;
+        endpoint                    := e0;
+        endpoint.entityId           := gen_rand_entityid_2(FALSE);
+        gen_endpoint_data(endpoint, sub_p.data);
+        gen_rtps_handler_out(sub_p, endpoint, stimulus);
+        start_test;
+        wait_on_complete;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        sub_p.data  := EMPTY_TEST_PACKET;
+        
         -- *PID_TOPIC_NAME*
         Log("Ignore Endpoint [Invalid PID_TOPIC_NAME]", INFO);
         sub_p.writerSN    := p0_snp;