diff --git a/.github/workflows/docs_deploy2.yml b/.github/workflows/docs_deploy2.yml
index b9f67db12b..32b4d38dcf 100644
--- a/.github/workflows/docs_deploy2.yml
+++ b/.github/workflows/docs_deploy2.yml
@@ -3,21 +3,21 @@ name: Docs - Deploy PX4 User Guide to AWS
 on:
   push:
     branches:
-      - 'main'
-      - 'release/**'
+      - "main"
+      - "release/**"
     paths:
-      - 'docs/en/**'
+      - "docs/en/**"
   pull_request:
     branches:
-      - '**'
+      - "**"
     paths:
-      - 'docs/en/**'
+      - "docs/en/**"
 
   workflow_dispatch:
 
 permissions:
   contents: read
-  id-token: write   # for AWS OIDC
+  id-token: write # for AWS OIDC
 
 concurrency:
   group: docs-deploy
@@ -28,7 +28,15 @@ env:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on:
+      [
+        runs-on,
+        runner=8cpu-linux-x64,
+        image=ubuntu24-full-x64,
+        "run-id=${{ github.run_id }}",
+        spot=false,
+        extras=s3-cache,
+      ]
     steps:
       - uses: runs-on/action@v1
 
@@ -94,4 +102,3 @@ jobs:
             --delete \
             --exclude "*.html" \
             --cache-control "public, max-age=86400, immutable"
-
diff --git a/msg/VehicleAirData.msg b/msg/VehicleAirData.msg
index 41e5358ae8..dddd3c80cc 100644
--- a/msg/VehicleAirData.msg
+++ b/msg/VehicleAirData.msg
@@ -1,15 +1,14 @@
+# Vehicle air data
+#
+# Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
+# Includes calculated data such as barometric altitude and air density.
 
-uint64 timestamp            # time since system start (microseconds)
-
-uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
-
-uint32 baro_device_id       # unique device ID for the selected barometer
-
-float32 baro_alt_meter			# Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
-float32 baro_pressure_pa		# Absolute pressure in Pascals
-float32 ambient_temperature		# Abient temperature in degrees Celsius
-uint8 temperature_source		# Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed
-
-float32 rho				# air density
-
-uint8 calibration_count     # Calibration changed counter. Monotonically increases whenever calibration changes.
+uint64 timestamp             # [us] Time since system start
+uint64 timestamp_sample      # [us] Timestamp of the raw data
+uint32 baro_device_id        # Unique device ID for the selected barometer
+float32 baro_alt_meter       # [m] [@frame MSL] Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH
+float32 baro_pressure_pa     # [Pa] Absolute pressure
+float32 ambient_temperature  # [degC] Ambient temperature
+uint8 temperature_source     # Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed
+float32 rho                  # [kg/m^3] Air density
+uint8 calibration_count      # Calibration changed counter. Monotonically increases whenever calibration changes.