diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
index 531cfa5860..f197f2a41a 100644
--- a/msg/vehicle_status.msg
+++ b/msg/vehicle_status.msg
@@ -74,7 +74,7 @@ uint8 rc_input_mode				# set to 1 to disable the RC input, 2 to enable manual co
 bool data_link_lost				# datalink to GCS lost
 uint8 data_link_lost_counter			# counts unique data link lost events
 
-bool high_latency_data_link_lost 			# all low latency datalinks to GCS lost
+bool high_latency_data_link_lost 			# Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
 
 bool engine_failure				# Set to true if an engine failure is detected
 bool mission_failure				# Set to true if mission could not continue/finish
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 904b83efa6..e4c4c9e451 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1280,7 +1280,7 @@ Commander::run()
 	int system_power_sub = orb_subscribe(ORB_ID(system_power));
 	int vtol_vehicle_status_sub = orb_subscribe(ORB_ID(vtol_vehicle_status));
 
-	struct geofence_result_s geofence_result {};
+	geofence_result_s geofence_result {};
 
 	land_detector.landed = true;
 
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 277600103a..e6dc84c80e 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -64,8 +64,8 @@ enum class link_loss_actions_t {
 	AUTO_RTL = 2,		// Return mode
 	AUTO_LAND = 3,		// Land mode
 	AUTO_RECOVER = 4,	// Data Link Auto Recovery (CASA Outback Challenge rules)
-	TERMINATE = 5,		// Terminate
-	LOCKDOWN = 6,		// Lockdown
+	TERMINATE = 5,		// Turn off all controllers and set PWM outputs to failsafe value
+	LOCKDOWN = 6,		// Kill the motors, same result as kill switch
 };
 
 typedef enum {