diff --git a/msg/versioned/AuxGlobalPosition.msg b/msg/versioned/AuxGlobalPosition.msg
index ccaf5d952d..cb71ecbecb 100644
--- a/msg/versioned/AuxGlobalPosition.msg
+++ b/msg/versioned/AuxGlobalPosition.msg
@@ -1,23 +1,31 @@
 # Auxiliary global position
-
+#
 # This message provides global position data from an external source such as
-# pseudolites, viusal navigation, or other positioning system.
+# pseudolites, visual navigation, or other positioning system.
 
 uint32 MESSAGE_VERSION = 0
 
 uint64 timestamp                # [us] Time since system start
 uint64 timestamp_sample         # [us] Timestamp of the raw data
 
-uint8 id                        # Unique identifier for the AGP source
-uint8 source			# 0: Unkown, 1: GNSS, 2: Vision, 3: Pseudolites, 4: Terrain, 5: Magnetic, 6: Estimator
+uint8 id                        # [-] Unique identifier for the AGP source
+uint8 source                    # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
+uint8 SOURCE_UNKNOWN = 0        # Unknown source
+uint8 SOURCE_GNSS = 1           # GNSS
+uint8 SOURCE_VISION = 2         # Vision
+uint8 SOURCE_PSEUDOLITES = 3    # Pseudolites
+uint8 SOURCE_TERRAIN = 4        # Terrain
+uint8 SOURCE_MAGNETIC = 5       # Magnetic
+uint8 SOURCE_ESTIMATOR = 6      # Estimator
 
+# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
 float64 lat                     # [deg] Latitude in WGS84
 float64 lon                     # [deg] Longitude in WGS84
-float32 alt                     # [m] Altitude above mean sea level (AMSL)
+float32 alt                     # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
 
-float32 eph                     # [m] Standard deviation of horizontal position error
-float32 epv                     # [m] Standard deviation of vertical position error
+float32 eph                     # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
+float32 epv                     # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
 
-uint8 lat_lon_reset_counter     # Counter for reset events on horizontal position coordinates
+uint8 lat_lon_reset_counter     # [-] Counter for reset events on horizontal position coordinates
 
 # TOPICS aux_global_position
diff --git a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
index 84c9234894..a205a8bb94 100644
--- a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
@@ -74,7 +74,7 @@ void AuxGlobalPosition::paramsUpdated()
 	}
 }
 
-float AuxGlobalPosition::test_ratio_filtered() const
+float AuxGlobalPosition::testRatioFiltered() const
 {
 	float max_ratio = 0.f;
 
diff --git a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp
index cda09c4f25..26ad5be09c 100644
--- a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp
+++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp
@@ -60,7 +60,10 @@ public:
 		updateParams();
 	}
 
-	float test_ratio_filtered() const;
+	/**
+	 * Returns the maximum filtered test ratio across all active AGP sources.
+	 */
+	float testRatioFiltered() const;
 	bool anySourceFusing() const;
 	int32_t getIdParam(int instance);
 	void setIdParam(int instance, int32_t sensor_id);
diff --git a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.cpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.cpp
index c6a57dce70..84e5aa062c 100644
--- a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.cpp
@@ -236,8 +236,6 @@ void AgpSource::update(Ekf &ekf, const estimator::imuSample &imu_delayed)
 		if (!_manager->anySourceFusing()) {
 			ekf.disableControlStatusAuxGpos();
 		}
-
-		ECL_WARN("Aux global position data stopped for instance %d", _instance_id);
 	}
 }
 
diff --git a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.hpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.hpp
index b3667b2c8d..6e81dbf072 100644
--- a/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.hpp
+++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position_control.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2026 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
diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index d568487da6..f5b8703c0d 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -541,7 +541,7 @@ float Ekf::getHorizontalPositionInnovationTestRatio() const
 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
 
 	if (_control_status.flags.aux_gpos) {
-		test_ratio = math::max(test_ratio, fabsf(_aux_global_position.test_ratio_filtered()));
+		test_ratio = math::max(test_ratio, fabsf(_aux_global_position.testRatioFiltered()));
 	}
 
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
diff --git a/src/modules/ekf2/params_aux_global_position.yaml b/src/modules/ekf2/params_aux_global_position.yaml
index e376785010..7928cfcc29 100644
--- a/src/modules/ekf2/params_aux_global_position.yaml
+++ b/src/modules/ekf2/params_aux_global_position.yaml
@@ -6,7 +6,7 @@ parameters:
   definitions:
     EKF2_AGP${i}_ID:
       description:
-        short: Aux global position sensor ${i} ID
+        short: Auxiliary global position sensor ${i} ID
         long: 'Sensor ID for slot ${i}. Set to 0 to disable this slot.'
       type: int32
       default: 0
@@ -16,7 +16,7 @@ parameters:
       instance_start: 0
     EKF2_AGP${i}_CTRL:
       description:
-        short: Aux global position sensor ${i} aiding
+        short: Auxiliary global position sensor ${i} aiding
         long: 'Set bits in the following positions to enable: 0 : Horizontal position
           fusion 1 : Vertical position fusion'
       type: bitmask
@@ -42,7 +42,7 @@ parameters:
       instance_start: 0
     EKF2_AGP${i}_DELAY:
       description:
-        short: Aux global position sensor ${i} delay relative to IMU measurements
+        short: Auxiliary global position sensor ${i} delay relative to IMU measurements
       type: float
       default: 0
       min: 0
@@ -54,7 +54,7 @@ parameters:
       instance_start: 0
     EKF2_AGP${i}_NOISE:
       description:
-        short: Measurement noise for aux global position sensor ${i}
+        short: Measurement noise for auxiliary global position sensor ${i}
         long:  Used to lower bound or replace the uncertainty included in the message
       type: float
       default: 1.0
@@ -65,7 +65,7 @@ parameters:
       instance_start: 0
     EKF2_AGP${i}_GATE:
       description:
-        short: Gate size for aux global position sensor ${i} fusion
+        short: Gate size for auxiliary global position sensor ${i} fusion
         long: Sets the number of standard deviations used by the innovation consistency
           test.
       type: float