diff --git a/msg/AutotuneAttitudeControlStatus.msg b/msg/AutotuneAttitudeControlStatus.msg
index 15e9478e6d..63cc07d576 100644
--- a/msg/AutotuneAttitudeControlStatus.msg
+++ b/msg/AutotuneAttitudeControlStatus.msg
@@ -1,38 +1,45 @@
-uint64 timestamp                # time since system start (microseconds)
+# Autotune attitude control status
+#
+# This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
+# and is subscribed to by the respective attitude controllers to command rate setpoints.
+#
+# The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
 
-float32[5] coeff                # coefficients of the identified discrete-time model
-float32[5] coeff_var            # coefficients' variance of the identified discrete-time model
-float32 fitness                 # fitness of the parameter estimate
-float32 innov
-float32 dt_model
+uint64 timestamp  # [us] Time since system start
 
-float32 kc
-float32 ki
-float32 kd
-float32 kff
-float32 att_p
+float32[5] coeff      # [-] Coefficients of the identified discrete-time model
+float32[5] coeff_var  # [-] Coefficients' variance of the identified discrete-time model
+float32 fitness       # [-] Fitness of the parameter estimate
+float32 innov         # [rad/s] Innovation (residual error between model and measured output)
+float32 dt_model      # [s] Model sample time used for identification
 
-float32[3] rate_sp
 
-float32 u_filt
-float32 y_filt
+float32 kc    # [-] Proportional rate-loop gain (ideal form)
+float32 ki    # [-] Integral rate-loop gain (ideal form)
+float32 kd    # [-] Derivative rate-loop gain (ideal form)
+float32 kff   # [-] Feedforward rate-loop gain
+float32 att_p # [-] Proportional attitude gain
 
-uint8 STATE_IDLE = 0
-uint8 STATE_INIT = 1
-uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2
-uint8 STATE_ROLL = 3
-uint8 STATE_ROLL_PAUSE = 4
-uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5
-uint8 STATE_PITCH = 6
-uint8 STATE_PITCH_PAUSE = 7
-uint8 STATE_YAW_AMPLITUDE_DETECTION = 8
-uint8 STATE_YAW = 9
-uint8 STATE_YAW_PAUSE = 10
-uint8 STATE_VERIFICATION = 11
-uint8 STATE_APPLY = 12
-uint8 STATE_TEST = 13
-uint8 STATE_COMPLETE = 14
-uint8 STATE_FAIL = 15
-uint8 STATE_WAIT_FOR_DISARM = 16
+float32[3] rate_sp # [rad/s] Rate setpoint commanded to the attitude controller.
 
-uint8 state
+float32 u_filt  # [-] Filtered input signal (normalized torque setpoint) used in system identification.
+float32 y_filt  # [rad/s] Filtered output signal (angular velocity) used in system identification.
+
+uint8 state  # [@enum STATE] Current state of the autotune procedure.
+uint8 STATE_IDLE = 0                      # Idle (not running)
+uint8 STATE_INIT = 1                      # Initialize filters and setup
+uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2  # FW only: determine required excitation amplitude (roll)
+uint8 STATE_ROLL = 3                      # Roll-axis excitation and model identification
+uint8 STATE_ROLL_PAUSE = 4                # Pause to return to level flight
+uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5 # FW only: determine required excitation amplitude (pitch)
+uint8 STATE_PITCH = 6                     # Pitch-axis excitation and model identification
+uint8 STATE_PITCH_PAUSE = 7               # Pause to return to level flight
+uint8 STATE_YAW_AMPLITUDE_DETECTION = 8   # FW only: determine required excitation amplitude (yaw)
+uint8 STATE_YAW = 9                       # Yaw-axis excitation and model identification
+uint8 STATE_YAW_PAUSE = 10                # Pause to return to level flight
+uint8 STATE_VERIFICATION = 11             # Verify model and candidate gains
+uint8 STATE_APPLY = 12                    # Apply gains
+uint8 STATE_TEST = 13                     # Test gains in closed-loop
+uint8 STATE_COMPLETE = 14                 # Tuning completed successfully
+uint8 STATE_FAIL = 15                     # Tuning failed (model invalid or controller unstable)
+uint8 STATE_WAIT_FOR_DISARM = 16          # Waiting for disarm before finalizing