diff --git a/src/modules/fw_rate_control/fw_rate_control_params.c b/src/modules/fw_rate_control/fw_rate_control_params.c
index 2e0f6e274c..58f6e289ff 100644
--- a/src/modules/fw_rate_control/fw_rate_control_params.c
+++ b/src/modules/fw_rate_control/fw_rate_control_params.c
@@ -34,17 +34,12 @@
 /**
  * @file fw_rate_control_params.c
  *
- * Parameters defined by the fixed-wing attitude control task
+ * Parameters defined by the fixed-wing rate control task
  *
  * @author Lorenz Meier <lorenz@px4.io>
  * @author Thomas Gubler <thomas@px4.io>
  */
 
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-
 /**
  * Minimum Airspeed (CAS)
  *
@@ -58,7 +53,6 @@
  *
  * @unit m/s
  * @min 0.5
- * @max 40
  * @decimal 1
  * @increment 0.5
  * @group FW TECS
@@ -72,7 +66,6 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
  *
  * @unit m/s
  * @min 0.5
- * @max 40
  * @decimal 1
  * @increment 0.5
  * @group FW TECS
@@ -99,7 +92,6 @@ PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);
  *
  * @unit m/s
  * @min 0.5
- * @max 40
  * @decimal 1
  * @increment 0.5
  * @group FW TECS
@@ -115,7 +107,6 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f);
  *
  * @unit m/s
  * @min 0.5
- * @max 40
  * @decimal 1
  * @increment 0.5
  * @group FW TECS
@@ -127,7 +118,7 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_STALL, 7.0f);
  *
  * @unit %/rad/s
  * @min 0.0
- * @max 1.0
+ * @max 10
  * @decimal 3
  * @increment 0.005
  * @group FW Rate Control
@@ -141,7 +132,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
  *
  * @unit %/rad/s
  * @min 0.0
- * @max 1.0
+ * @max 10
  * @decimal 3
  * @increment 0.005
  * @group FW Rate Control
@@ -156,7 +147,7 @@ PARAM_DEFINE_FLOAT(FW_PR_D, 0.f);
  *
  * @unit %/rad
  * @min 0.0
- * @max 0.5
+ * @max 10
  * @decimal 3
  * @increment 0.005
  * @group FW Rate Control
@@ -182,7 +173,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
  *
  * @unit %/rad/s
  * @min 0.0
- * @max 1.0
+ * @max 10
  * @decimal 3
  * @increment 0.005
  * @group FW Rate Control
@@ -197,7 +188,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
  *
  * @unit %/rad/s
  * @min 0.0
- * @max 1.0
+ * @max 10
  * @decimal 3
  * @increment 0.005
  * @group FW Rate Control
@@ -212,9 +203,9 @@ PARAM_DEFINE_FLOAT(FW_RR_D, 0.00f);
  *
  * @unit %/rad
  * @min 0.0
- * @max 0.2
- * @decimal 3
- * @increment 0.005
+ * @max 10
+ * @decimal 2
+ * @increment 0.01
  * @group FW Rate Control
  */
 PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f);
@@ -237,7 +228,7 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
  *
  * @unit %/rad/s
  * @min 0.0
- * @max 1.0
+ * @max 10
  * @decimal 3
  * @increment 0.005
  * @group FW Rate Control
@@ -252,7 +243,7 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
  *
  * @unit %/rad/s
  * @min 0.0
- * @max 1.0
+ * @max 10
  * @decimal 3
  * @increment 0.005
  * @group FW Rate Control
@@ -267,7 +258,7 @@ PARAM_DEFINE_FLOAT(FW_YR_D, 0.0f);
  *
  * @unit %/rad
  * @min 0.0
- * @max 50.0
+ * @max 10
  * @decimal 1
  * @increment 0.5
  * @group FW Rate Control
@@ -338,7 +329,7 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
  * This is the rate the controller is trying to achieve if the user applies full roll
  * stick input in acro mode.
  *
- * @min 45
+ * @min 10
  * @max 720
  * @unit deg
  * @group FW Rate Control
@@ -348,7 +339,7 @@ PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);
 /**
  * Acro body pitch max rate setpoint.
  *
- * @min 45
+ * @min 10
  * @max 720
  * @unit deg
  * @group FW Rate Control
@@ -359,7 +350,7 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
  * Acro body yaw max rate setpoint.
  *
  * @min 10
- * @max 180
+ * @max 720
  * @unit deg
  * @group FW Rate Control
  */
@@ -397,8 +388,8 @@ PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1);
 * This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
  *
  * @group FW Rate Control
- * @min -0.25
- * @max 0.25
+ * @min -0.5
+ * @max 0.5
  * @decimal 2
  * @increment 0.01
  */
@@ -410,8 +401,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMIN, 0.0f);
 * This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
  *
  * @group FW Rate Control
- * @min -0.25
- * @max 0.25
+ * @min -0.5
+ * @max 0.5
  * @decimal 2
  * @increment 0.01
  */
@@ -423,8 +414,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMIN, 0.0f);
 * This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
  *
  * @group FW Rate Control
- * @min -0.25
- * @max 0.25
+ * @min -0.5
+ * @max 0.5
  * @decimal 2
  * @increment 0.01
  */
@@ -436,8 +427,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMIN, 0.0f);
 * This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
  *
  * @group FW Rate Control
- * @min -0.25
- * @max 0.25
+ * @min -0.5
+ * @max 0.5
  * @decimal 2
  * @increment 0.01
  */
@@ -449,8 +440,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMAX, 0.0f);
 * This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
  *
  * @group FW Rate Control
- * @min -0.25
- * @max 0.25
+ * @min -0.5
+ * @max 0.5
  * @decimal 2
  * @increment 0.01
  */
@@ -462,8 +453,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMAX, 0.0f);
 * This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
  *
  * @group FW Rate Control
- * @min -0.25
- * @max 0.25
+ * @min -0.5
+ * @max 0.5
  * @decimal 2
  * @increment 0.01
  */