diff --git a/msg/AirspeedWind.msg b/msg/AirspeedWind.msg
index 6ca513a356..6b0b2a0500 100644
--- a/msg/AirspeedWind.msg
+++ b/msg/AirspeedWind.msg
@@ -1,26 +1,34 @@
-uint64 timestamp		# time since system start (microseconds)
-uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+# Wind estimate (from airspeed_selector)
+#
+# Contains wind estimation and airspeed innovation information estimated by the WindEstimator
+# in the airspeed selector module.
+#
+# This message is published by the airspeed selector for debugging purposes, and is not
+# subscribed to by any other modules.
 
-float32 windspeed_north		# Wind component in north / X direction (m/sec)
-float32 windspeed_east		# Wind component in east / Y direction (m/sec)
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Timestamp of the raw data
 
-float32 variance_north		# Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
-float32 variance_east		# Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
+float32 windspeed_north	# [m/s] Wind component in north / X direction
+float32 windspeed_east # [m/s] Wind component in east / Y direction
 
-float32 tas_innov 		# True airspeed innovation
-float32 tas_innov_var 		# True airspeed innovation variance
+float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction
+float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction
 
-float32 tas_scale_raw 		# Estimated true airspeed scale factor (not validated)
-float32 tas_scale_raw_var 	# True airspeed scale factor variance
+float32 tas_innov # [m/s] True airspeed innovation
+float32 tas_innov_var # [m/s] True airspeed innovation variance
 
-float32 tas_scale_validated	# Estimated true airspeed scale factor after validation
+float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
+float32 tas_scale_raw_var # True airspeed scale factor variance
 
-float32 beta_innov 		# Sideslip measurement innovation
-float32 beta_innov_var 		# Sideslip measurement innovation variance
+float32 tas_scale_validated # Estimated true airspeed scale factor after validation
 
-uint8 source			# source of wind estimate
+float32 beta_innov # [rad] Sideslip measurement innovation
+float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
 
-uint8 SOURCE_AS_BETA_ONLY = 0	# wind estimate only based on synthetic sideslip fusion
-uint8 SOURCE_AS_SENSOR_1 = 1	# combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
-uint8 SOURCE_AS_SENSOR_2 = 2	# combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
-uint8 SOURCE_AS_SENSOR_3 = 3	# combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
+uint8 source # source of wind estimate
+
+uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip fusion
+uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
+uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
+uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
diff --git a/msg/versioned/Wind.msg b/msg/versioned/Wind.msg
index 7a53f9bfa7..462bec3b88 100644
--- a/msg/versioned/Wind.msg
+++ b/msg/versioned/Wind.msg
@@ -1,18 +1,23 @@
+# Wind estimate (from EKF2)
+#
+# Contains the system-wide estimate of horizontal wind velocity and its variance.
+# Published by the navigation filter (EKF2) for use by other flight modules and libraries.
+
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp		# time since system start (microseconds)
-uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Timestamp of the raw data
 
-float32 windspeed_north		# Wind component in north / X direction (m/sec)
-float32 windspeed_east		# Wind component in east / Y direction (m/sec)
+float32 windspeed_north # [m/s] Wind component in north / X direction
+float32 windspeed_east # [m/s] Wind component in east / Y direction
 
-float32 variance_north		# Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
-float32 variance_east		# Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
+float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction
+float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction
 
-float32 tas_innov 		# True airspeed innovation
-float32 tas_innov_var 		# True airspeed innovation variance
+float32 tas_innov # [m/s] True airspeed innovation
+float32 tas_innov_var # [(m/s)^2] True airspeed innovation variance
 
-float32 beta_innov 		# Sideslip measurement innovation
-float32 beta_innov_var 		# Sideslip measurement innovation variance
+float32 beta_innov # [rad] Sideslip measurement innovation
+float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
 
 # TOPICS wind estimator_wind