diff --git a/src/modules/mc_pos_control/multicopter_altitude_mode_params.c b/src/modules/mc_pos_control/multicopter_altitude_mode_params.c
index 354556434c..ef9cde2be0 100644
--- a/src/modules/mc_pos_control/multicopter_altitude_mode_params.c
+++ b/src/modules/mc_pos_control/multicopter_altitude_mode_params.c
@@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
  * @min 0.0
  * @max 5.0
  * @decimal 2
- * @increment 0.2
+ * @increment 0.01
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);
diff --git a/src/modules/mc_pos_control/multicopter_position_control_gain_params.c b/src/modules/mc_pos_control/multicopter_position_control_gain_params.c
index 1135c9ea2c..df36d1f733 100644
--- a/src/modules/mc_pos_control/multicopter_position_control_gain_params.c
+++ b/src/modules/mc_pos_control/multicopter_position_control_gain_params.c
@@ -38,7 +38,7 @@
  *
  * @min 0.1
  * @max 1.5
- * @decimal 1
+ * @decimal 2
  * @increment 0.1
  * @group Multicopter Position Control
  */
@@ -51,7 +51,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.f);
  *
  * @min 0
  * @max 2
- * @decimal 1
+ * @decimal 2
  * @increment 0.1
  * @group Multicopter Position Control
  */
@@ -64,7 +64,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
  *
  * @min 2
  * @max 15
- * @decimal 1
+ * @decimal 2
  * @increment 0.1
  * @group Multicopter Position Control
  */
@@ -77,7 +77,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.f);
  *
  * @min 1.2
  * @max 5
- * @decimal 1
+ * @decimal 2
  * @increment 0.1
  * @group Multicopter Position Control
  */
@@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
  *
  * @min 0.2
  * @max 3
- * @decimal 1
+ * @decimal 2
  * @increment 0.1
  * @group Multicopter Position Control
  */
diff --git a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c
index 2b2afe2036..f65fc10e14 100644
--- a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c
+++ b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c
@@ -40,7 +40,7 @@
  * @unit m/s
  * @min 0
  * @max 20
- * @decimal 0
+ * @decimal 1
  * @increment 1
  * @group Multicopter Position Control
  */
@@ -79,7 +79,8 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.f);
  * Minimum collective thrust in climb rate controlled modes
  *
  * Too low thrust leads to loss of roll/pitch/yaw torque control authority.
- * Airmode is used to keep torque authority even with zero thrust (see MC_AIRMODE).
+ * With airmode enabled this parameters can be set to 0
+ * while still keeping torque authority (see MC_AIRMODE).
  *
  * @unit norm
  * @min 0.05
diff --git a/src/modules/mc_pos_control/multicopter_position_mode_params.c b/src/modules/mc_pos_control/multicopter_position_mode_params.c
index fc2b5657a2..e003c3e9dd 100644
--- a/src/modules/mc_pos_control/multicopter_position_mode_params.c
+++ b/src/modules/mc_pos_control/multicopter_position_mode_params.c
@@ -61,7 +61,7 @@ PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
  * @min 3
  * @max 20
  * @increment 1
- * @decimal 0
+ * @decimal 1
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.f);
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.f);
  * @min -1
  * @max 20
  * @increment 1
- * @decimal 0
+ * @decimal 1
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.f);
@@ -91,7 +91,7 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.f);
  * @min -1
  * @max 20
  * @increment 1
- * @decimal 0
+ * @decimal 1
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.f);
@@ -130,7 +130,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
  * MPC_POS_MODE
  * 1 just deceleration
  * 3 acceleration and deceleration
- * 4 use MPC_ACC_HOR instead
+ * 4 not used, use MPC_ACC_HOR instead
  *
  * @unit m/s^2
  * @min 2