diff --git a/msg/sensor_baro.msg b/msg/sensor_baro.msg
index 39b62a2305..2d0d0528b7 100644
--- a/msg/sensor_baro.msg
+++ b/msg/sensor_baro.msg
@@ -1,5 +1,5 @@
-float32 pressure
-float32 altitude
-float32 temperature
+float32 pressure	# static pressure measurement in millibar
+float32 altitude	# ISA pressure altitude in meters
+float32 temperature	# static temperature measurement in deg C
 uint64 error_count
 uint32 device_id	# Sensor ID that must be unique for each baro sensor and must not change
diff --git a/msg/sensor_correction.msg b/msg/sensor_correction.msg
index f47fa930fc..0abb78fbfc 100644
--- a/msg/sensor_correction.msg
+++ b/msg/sensor_correction.msg
@@ -8,8 +8,14 @@ uint8 gyro_select		# gyro uORB index for the voted sensor
 float32[3] gyro_offset		# gyro XYZ offsets in the sensor frame in rad/s
 float32[3] gyro_scale		# gyro XYZ scale factors in the sensor frame
 
-# Corrections for acceleromter acceleration outputs where corrected_accel = raw_aaccel * accel_scale + accel_offset
+# Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
 uint8 accel_select		# accelerometer uORB index for the voted sensor
 float32[3] accel_offset		# accelerometer XYZ offsets in the sensor frame in m/s/s
 float32[3] accel_scale		# accelerometer XYZ scale factors in the sensor frame
+
+# Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
+# Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
+uint8 baro_select		# barometric pressure uORB index for the voted sensor
+float32 baro_offset		# barometric pressure offsets in the sensor frame in m/s/s
+float32 baro_scale		# barometric pressure scale factors in the sensor frame