diff --git a/msg/PositionControllerStatus.msg b/msg/PositionControllerStatus.msg
index 2f2531bfbf..7237351fd0 100644
--- a/msg/PositionControllerStatus.msg
+++ b/msg/PositionControllerStatus.msg
@@ -1,18 +1,12 @@
 uint64 timestamp		# time since system start (microseconds)
 
-float32 nav_roll
-float32 nav_pitch
-float32 nav_bearing 	# set to NAN if not valid
-
-float32 target_bearing	# set to NAN if not valid
-float32 xtrack_error	# set to NAN if not valid
-
-float32 wp_dist
-
-float32 acceptance_radius		# the optimal distance to a waypoint to switch to the next
-
-float32 yaw_acceptance			# NaN if not set
-
-float32 altitude_acceptance		# the optimal vertical distance to a waypoint to switch to the next
-
-uint8 type
+float32 nav_roll		# Roll setpoint [rad]
+float32 nav_pitch		# Pitch setpoint [rad]
+float32 nav_bearing 		# Bearing angle[rad]
+float32 target_bearing		# Bearing angle from aircraft to current target [rad]
+float32 xtrack_error		# Signed track error [m]
+float32 wp_dist			# Distance to active (next) waypoint [m]
+float32 acceptance_radius	# Current horizontal acceptance radius [m]
+float32 yaw_acceptance		# Yaw acceptance error[rad]
+float32 altitude_acceptance	# Current vertical acceptance error [m]
+uint8 type			# Current (applied) position setpoint type (see PositionSetpoint.msg)