diff --git a/msg/DifferentialPressure.msg b/msg/DifferentialPressure.msg
index 0cdf1e4cce..44de2e9fc7 100644
--- a/msg/DifferentialPressure.msg
+++ b/msg/DifferentialPressure.msg
@@ -1,10 +1,12 @@
-uint64 timestamp                     # time since system start (microseconds)
-uint64 timestamp_sample
+# Differential-pressure (airspeed) sensor
+#
+# This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
+# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).
 
-uint32 device_id                     # unique device ID for the sensor that does not change between power cycles
+uint64 timestamp         # [us] Time of publication (since system start)
+uint64 timestamp_sample  # [us] Time of raw data capture
 
-float32 differential_pressure_pa     # differential pressure reading in Pascals (may be negative)
-
-float32 temperature                  # Temperature provided by sensor in degrees Celsius, NAN if unknown
-
-uint32 error_count                   # Number of errors detected by driver
+uint32 device_id                  # [-] Unique device ID for the sensor that does not change between power cycles
+float32 differential_pressure_pa  # [Pa] Differential pressure reading (may be negative)
+float32 temperature               # [degC] [@invalid NaN if unknown] Temperature
+uint32 error_count                # [-] Number of errors detected by driver
diff --git a/msg/SensorBaro.msg b/msg/SensorBaro.msg
index 7c4154e159..f13096d9aa 100644
--- a/msg/SensorBaro.msg
+++ b/msg/SensorBaro.msg
@@ -1,12 +1,14 @@
-uint64 timestamp          # time since system start (microseconds)
-uint64 timestamp_sample
+# Barometer sensor
+# 
+# This is populated by barometer drivers and used by the EKF2 estimator.
+# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
 
-uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+uint64 timestamp         # [us] Time of publication (since system start)
+uint64 timestamp_sample  # [us] Time of raw data capture
 
-float32 pressure          # static pressure measurement in Pascals
-
-float32 temperature       # temperature in degrees Celsius
-
-uint32 error_count
+uint32 device_id     # [-] Unique device ID for the sensor that does not change between power cycles
+float32 pressure     # [Pa] Static pressure measurement
+float32 temperature  # [degC] Temperature.
+uint32 error_count   # [-] Number of errors detected by driver.
 
 uint8 ORB_QUEUE_LENGTH = 4