diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index 4bc2ad6bf8..294bc2e4c3 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -430,9 +430,9 @@ PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
 PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
 
 /**
- * Max manual roll
+ * Maximum manual roll angle
  *
- * Max roll for manual control in attitude stabilized mode
+ * Maximum manual roll angle setpoint in manual attitude-only stabilized mode
  *
  * @unit deg
  * @min 0.0
@@ -444,9 +444,9 @@ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
 PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
 
 /**
- * Max manual pitch
+ * Maximum manual pitch angle
  *
- * Max pitch for manual control in attitude stabilized mode
+ * Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode
  *
  * @unit deg
  * @min 0.0
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 47b92f8324..c34a16a443 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -129,9 +129,9 @@ PARAM_DEFINE_FLOAT(FW_THR_ALT_SCL, 0.0f);
 PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
 
 /**
- * Negative pitch limit
+ * Minimum pitch angle
  *
- * The minimum negative pitch the controller will output.
+ * The minimum pitch angle setpoint for autonomous modes including altitude and position control.
  *
  * @unit deg
  * @min -60.0
@@ -143,9 +143,9 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
 PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
 
 /**
- * Positive pitch limit
+ * Maximum pitch angle
  *
- * The maximum positive pitch the controller will output.
+ * The maximum pitch angle setpoint for autonomous modes including altitude and position control.
  *
  * @unit deg
  * @min 0.0
@@ -157,9 +157,9 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
 PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
 
 /**
- * Controller roll limit
+ * Maximum roll angle
  *
- * The maximum roll the controller will output.
+ * The maximum roll angle setpoint for autonomous modes including altitude and position control.
  *
  * @unit deg
  * @min 35.0