diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 6e8e22b5cd..10284ab250 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,16 +36,54 @@
  *
  * Parameters defined by the sensors task.
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <julian@oes.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Thomas Gubler <thomas@px4.io>
+ * @author Julian Oes <julian@px4.io>
  */
 
 #include <nuttx/config.h>
 #include <systemlib/param/param.h>
 
+/**
+ * Roll trim
+ *
+ * The trim value is the actuator control value the system needs
+ * for straight and level flight. It can be calibrated by
+ * flying manually straight and level using the RC trims and
+ * copying them using the GCS.
+ *
+ * @group Radio Calibration
+ * @min -0.25
+ * @max 0.25
+ */
 PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
+
+/**
+ * Pitch trim
+ *
+ * The trim value is the actuator control value the system needs
+ * for straight and level flight. It can be calibrated by
+ * flying manually straight and level using the RC trims and
+ * copying them using the GCS.
+ *
+ * @group Radio Calibration
+ * @min -0.25
+ * @max 0.25
+ */
 PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
+
+/**
+ * Yaw trim
+ *
+ * The trim value is the actuator control value the system needs
+ * for straight and level flight. It can be calibrated by
+ * flying manually straight and level using the RC trims and
+ * copying them using the GCS.
+ *
+ * @group Radio Calibration
+ * @min -0.25
+ * @max 0.25
+ */
 PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
 
 /**
@@ -77,6 +114,7 @@ PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
  *
  * @group Battery Calibration
  * @unit V
+ * @min 0.0f
  */
 PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
 
@@ -87,6 +125,8 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
  *
  * @group Battery Calibration
  * @unit S
+ * @min 1
+ * @max 10
  */
 PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
 
@@ -182,7 +222,31 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
  * @min 0
  * @max 35
  */
-PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
+PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
+
+/**
+ * Home set horizontal threshold
+ *
+ * The home position will be set if the estimated positioning accuracy is below the threshold.
+ *
+ * @group Commander
+ * @unit meter
+ * @min 2
+ * @max 15
+ */
+PARAM_DEFINE_FLOAT(COM_HOME_H_T, 5.0f);
+
+/**
+ * Home set vertical threshold
+ *
+ * The home position will be set if the estimated positioning accuracy is below the threshold.
+ *
+ * @group Commander
+ * @unit meter
+ * @min 5
+ * @max 25
+ */
+PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
 
 /**
  * Autosaving of params