diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index d582b3974c..ab327e0ff9 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -325,11 +325,12 @@ PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0);
  *
  * @group Commander
  * @value 0 Warning
- * @value 1 Return to land
- * @value 2 Land at current position
- * @value 3 Return to land at critically low level, land at current position if reaching dangerously low levels
+ * @value 1 Return mode
+ * @value 2 Land mode
+ * @value 3 Return mode at critically low level, Land mode at current position if reaching dangerously low levels
  * @decimal 0
  * @increment 1
+ * @increment 1
  */
 PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0);
 
@@ -351,9 +352,9 @@ PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.0f);
  * The offboard loss failsafe will only be entered after a timeout,
  * set by COM_OF_LOSS_T in seconds.
  *
- * @value 0 Land at current position
- * @value 1 Loiter
- * @value 2 Return to Land
+ * @value 0 Land mode
+ * @value 1 Hold mode
+ * @value 2 Return mode
  *
  * @group Mission
  */
@@ -365,12 +366,12 @@ PARAM_DEFINE_INT32(COM_OBL_ACT, 0);
  * The offboard loss failsafe will only be entered after a timeout,
  * set by COM_OF_LOSS_T in seconds.
  *
- * @value 0 Position control
- * @value 1 Altitude control
- * @value 2 Manual
- * @value 3 Return to Land
- * @value 4 Land at current position
- * @value 5 Loiter
+ * @value 0 Position mode
+ * @value 1 Altitude mode
+ * @value 2 Manual/Stabilized
+ * @value 3 Return mode
+ * @value 4 Land mode
+ * @value 5 Hold mode
  * @group Mission
  */
 PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
@@ -649,18 +650,18 @@ PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0);
 /**
  * Position control navigation loss response.
  *
- * This sets the flight mode that will be used if navigation accuracy is no longer adequte for position control.
+ * This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control.
  * Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.
  *
- * @value 0 Assume use of remote control after fallback. Switch to ALTCTL if a height estimate is available, else switch to MANUAL.
- * @value 1 Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION.
+ * @value 0 Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
+ * @value 1 Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
  *
  * @group Mission
  */
 PARAM_DEFINE_INT32(COM_POSCTL_NAVL, 0);
 
 /**
- * Arm authorization parameters, this uint32_t will be splitted between starting from the LSB:
+ * Arm authorization parameters, this uint32_t will be split between starting from the LSB:
  * - 8bits to authorizer system id
  * - 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
  * - 7bits to authentication method