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 1d5ea540c0..5aa48e3af8 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -84,8 +84,7 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
 /**
  * Pitch rate proportional gain.
  *
- * This defines how much the elevator input will be commanded depending on the
- * current body angular rate error.
+ * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
  * @unit %/rad/s
  * @min 0.0
@@ -99,8 +98,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
 /**
  * Pitch rate derivative gain.
  *
- * This defines how much the elevator input will be commanded depending on the
- * current body angular acceleration error.
+ * Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
  * @unit %/rad/s
  * @min 0.0
@@ -173,8 +171,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
 /**
  * Roll rate proportional Gain
  *
- * This defines how much the aileron input will be commanded depending on the
- * current body angular rate error.
+ * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
  * @unit %/rad/s
  * @min 0.0
@@ -188,8 +185,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
 /**
  * Roll rate derivative Gain
  *
- * This defines how much the aileron input will be commanded depending on the
- * current body angular acceleration error.
+ * Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
  * @unit %/rad/s
  * @min 0.0
@@ -246,8 +242,7 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
 /**
  * Yaw rate proportional gain
  *
- * This defines how much the rudder input will be commanded depending on the
- * current body angular rate error.
+ * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
  *
  * @unit %/rad/s
  * @min 0.0
@@ -261,8 +256,7 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
 /**
  * Yaw rate derivative gain
  *
- * This defines how much the rudder input will be commanded depending on the
- * current body angular acceleration error.
+ * Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
  * @unit %/rad/s
  * @min 0.0