diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
index 410b0a1312..d0d1696b29 100644
--- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
@@ -166,7 +166,7 @@ private:
 		(ParamFloat<px4::params::DS_MASS>) _param_fw_mass,
 		(ParamFloat<px4::params::DS_WING_AREA>) _param_fw_wing_area,
 		(ParamFloat<px4::params::DS_RHO>) _param_rho,
-		// aerodynamic params
+		// aerodynamic params (INDI)
 		(ParamFloat<px4::params::DS_C_L0>) _param_fw_c_l0,
 		(ParamFloat<px4::params::DS_C_L1>) _param_fw_c_l1,
 		(ParamFloat<px4::params::DS_C_D0>) _param_fw_c_d0,
@@ -174,7 +174,7 @@ private:
 		(ParamFloat<px4::params::DS_C_D2>) _param_fw_c_d2,
 		(ParamFloat<px4::params::DS_AOA_OFFSET>) _param_aoa_offset,
 		(ParamFloat<px4::params::DS_STALL_SPEED>) _param_stall_speed,
-		// position INDI control params
+		// position PD control params
 		(ParamFloat<px4::params::DS_LIN_K_X>) _param_lin_k_x,
 		(ParamFloat<px4::params::DS_LIN_K_Y>) _param_lin_k_y,
 		(ParamFloat<px4::params::DS_LIN_K_Z>) _param_lin_k_z,
@@ -184,12 +184,12 @@ private:
 		(ParamFloat<px4::params::DS_LIN_FF_X>) _param_lin_ff_x,
 		(ParamFloat<px4::params::DS_LIN_FF_Y>) _param_lin_ff_y,
 		(ParamFloat<px4::params::DS_LIN_FF_Z>) _param_lin_ff_z,
-		// attitude INDI control params
+		// attitude PD control params
 		(ParamFloat<px4::params::DS_ROT_K_ROLL>) _param_rot_k_roll,
 		(ParamFloat<px4::params::DS_ROT_K_PITCH>) _param_rot_k_pitch,
 		(ParamFloat<px4::params::DS_ROT_C_ROLL>) _param_rot_c_roll,
 		(ParamFloat<px4::params::DS_ROT_C_PITCH>) _param_rot_c_pitch,
-		// low-level controller params
+		// low-level controller params (INDI)
 		(ParamFloat<px4::params::DS_K_ACT_ROLL>) _param_k_act_roll,
 		(ParamFloat<px4::params::DS_K_ACT_PITCH>) _param_k_act_pitch,
 		(ParamFloat<px4::params::DS_K_ACT_YAW>) _param_k_act_yaw,
diff --git a/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c b/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
index 5c06b28feb..945fbb0631 100644
--- a/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+++ b/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
@@ -201,8 +201,8 @@ PARAM_DEFINE_FLOAT(DS_STALL_SPEED, 9.0f);
  * control gain of position PD-controller (body x-direction)
  * 
  * @unit 
- * @min -10
- * @max 10
+ * @min 0
+ * @max 100
  * @decimal 1
  * @increment 0.1
  * @group FW DYN SOAR Control
@@ -213,8 +213,8 @@ PARAM_DEFINE_FLOAT(DS_LIN_K_X, 1.0f);
  * control gain of position PD-controller (body y-direction)
  * 
  * @unit 
- * @min -10
- * @max 10
+ * @min 0
+ * @max 100
  * @decimal 1
  * @increment 0.1
  * @group FW DYN SOAR Control
@@ -225,8 +225,8 @@ PARAM_DEFINE_FLOAT(DS_LIN_K_Y, 1.0f);
  * control gain of position PD-controller (body z-direction)
  * 
  * @unit 
- * @min -10
- * @max 10
+ * @min 0
+ * @max 100
  * @decimal 1
  * @increment 0.1
  * @group FW DYN SOAR Control
@@ -273,7 +273,7 @@ PARAM_DEFINE_FLOAT(DS_LIN_C_Z, 0.75f);
  * acceleration feedback gain of position PD-controller (body x-direction)
  * 
  * @unit 
- * @min -10
+ * @min 0
  * @max 10
  * @decimal 1
  * @increment 0.1
@@ -285,7 +285,7 @@ PARAM_DEFINE_FLOAT(DS_LIN_FF_X, 0.5f);
  * acceleration feedback gain of position PD-controller (body y-direction)
  * 
  * @unit 
- * @min -10
+ * @min 0
  * @max 10
  * @decimal 1
  * @increment 0.1
@@ -297,7 +297,7 @@ PARAM_DEFINE_FLOAT(DS_LIN_FF_Y, 0.5f);
  * acceleration feedback gain of position PD-controller (body z-direction)
  * 
  * @unit 
- * @min -10
+ * @min 0
  * @max 10
  * @decimal 1
  * @increment 0.1
@@ -476,7 +476,7 @@ PARAM_DEFINE_FLOAT(DS_ORIGIN_ALT, 537.0f);
 // ======================================================
 
 /**
- * integer in {0,1,2,3} defining the loiter trajectory
+ * integer in {0,1,2,3,4,5} defining the loiter trajectory
  * 
  * @unit 
  * @min 0