diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 148a0aafa2..53ed34f46b 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -117,7 +117,7 @@ extern struct system_load_s system_load;
 #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 
-#define POSITION_TIMEOUT 50000 /**< consider the local or global position estimate invalid after 50ms */
+#define POSITION_TIMEOUT 100000 /**< consider the local or global position estimate invalid after 100ms */
 #define RC_TIMEOUT 500000
 #define DIFFPRESS_TIMEOUT 2000000
 
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index fe0004ea8a..104df4e59b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -174,34 +174,35 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
 
 /**
- * Maximum tilt
+ * Maximum tilt angle in air
  *
- * Limits maximum tilt in AUTO and EASY modes.
+ * Limits maximum tilt in AUTO and EASY modes during flight.
  *
  * @unit deg
  * @min 0.0
  * @max 90.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 45.0f);
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
 
 /**
- * Landing descend rate
+ * Maximum tilt during landing
  *
- * @unit m/s
+ * Limits maximum tilt angle on landing.
+ *
+ * @unit deg
  * @min 0.0
+ * @max 90.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f);
 
 /**
- * Maximum landing tilt
- *
- * Limits maximum tilt on landing.
+ * Landing descend rate
  *
- * @unit deg
+ * @unit m/s
  * @min 0.0
- * @max 90.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 15.0f);
+PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
+