diff --git a/msg/versioned/VehicleOdometry.msg b/msg/versioned/VehicleOdometry.msg
index f4d600d2b8..cf117ff82c 100644
--- a/msg/versioned/VehicleOdometry.msg
+++ b/msg/versioned/VehicleOdometry.msg
@@ -1,34 +1,35 @@
-# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+# Vehicle odometry data
+#
+# Fits ROS REP 147 for aerial vehicles
 
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp		# time since system start (microseconds)
-uint64 timestamp_sample
+uint64 timestamp         # [us] Time since system start
+uint64 timestamp_sample  # [us] Timestamp sample
 
-uint8 POSE_FRAME_UNKNOWN = 0
-uint8 POSE_FRAME_NED     = 1 # NED earth-fixed frame
-uint8 POSE_FRAME_FRD     = 2 # FRD world-fixed frame, arbitrary heading reference
-uint8 pose_frame            # Position and orientation frame of reference
+uint8 pose_frame              # [@enum POSE_FRAME] Position and orientation frame of reference
+uint8 POSE_FRAME_UNKNOWN = 0  # Unknown frame
+uint8 POSE_FRAME_NED     = 1  # North-East-Down (NED) navigation frame. Aligned with True North.
+uint8 POSE_FRAME_FRD     = 2  # Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down.
 
-float32[3] position         # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
-float32[4] q                # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
+float32[3] position  # [m] [@frame local frame] [@invalid NaN If invalid/unknown] Position. Origin is position of GC at startup.
+float32[4] q         # [-] [@invalid NaN First value if invalid/unknown] Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world)
 
-uint8 VELOCITY_FRAME_UNKNOWN  = 0
-uint8 VELOCITY_FRAME_NED      = 1 # NED earth-fixed frame
-uint8 VELOCITY_FRAME_FRD      = 2 # FRD world-fixed frame, arbitrary heading reference
-uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
-uint8 velocity_frame        # Reference frame of the velocity data
+uint8 velocity_frame               # [@enum VELOCITY_FRAME] Reference frame of the velocity data
+uint8 VELOCITY_FRAME_UNKNOWN  = 0  # Unknown frame
+uint8 VELOCITY_FRAME_NED      = 1  # NED navigation frame at current position.
+uint8 VELOCITY_FRAME_FRD      = 2  # FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down.
+uint8 VELOCITY_FRAME_BODY_FRD = 3  # FRD body-fixed frame
 
-float32[3] velocity         # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
+float32[3] velocity          # [m/s] [@frame @velocity_frame] [@invalid NaN If invalid/unknown] Velocity.
+float32[3] angular_velocity  # [rad/s] [@frame @VELOCITY_FRAME_BODY_FRD] [@invalid NaN If invalid/unknown] Angular velocity in body-fixed frame
 
-float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
+float32[3] position_variance     # [m^2] Variance of position error
+float32[3] orientation_variance  # [rad^2] Variance of orientation/attitude error (expressed in body frame)
+float32[3] velocity_variance     # [m^2/s^2] Variance of velocity error
 
-float32[3] position_variance
-float32[3] orientation_variance
-float32[3] velocity_variance
-
-uint8 reset_counter
-int8 quality
+uint8 reset_counter  # [-] Reset counter. Counts reset events on attitude, velocity and position.
+int8 quality         # [-] [@invalid 0] Quality. Unused.
 
 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
 # TOPICS estimator_odometry