diff --git a/libraries/GCS_MAVLink/message_definitions/common.xml b/libraries/GCS_MAVLink/message_definitions/common.xml
index 2a052f0cf3..78a622136d 100644
--- a/libraries/GCS_MAVLink/message_definitions/common.xml
+++ b/libraries/GCS_MAVLink/message_definitions/common.xml
@@ -1417,18 +1417,18 @@
Roll angle (rad)
Pitch angle (rad)
Yaw angle (rad)
- Roll angular speed (rad/s)
- Pitch angular speed (rad/s)
- Yaw angular speed (rad/s)
+ Roll angular speed (rad/s) in body frame
+ Pitch angular speed (rad/s) in body frame
+ Yaw angular speed (rad/s) in body frame
Latitude, expressed as * 1E7
Longitude, expressed as * 1E7
Altitude in meters, expressed as * 1000 (millimeters)
Ground X Speed (Latitude), expressed as m/s * 100
Ground Y Speed (Longitude), expressed as m/s * 100
- Ground Z Speed (Altitude), expressed as m/s * 100
- X acceleration (mg)
- Y acceleration (mg)
- Z acceleration (mg)
+ Ground Z Speed (Altitude), expressed as m/s * 100 (+ve down)
+ X acceleration (mg) in body frame (+ve forward)
+ Y acceleration (mg) in body frame (+ve right)
+ Z acceleration (mg) in body frame (+ve down)
Sent from autopilot to simulation. Hardware in the loop control outputs