diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
index 5d54a5ae05..fcb56b4d0f 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@@ -54,36 +54,36 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("THST_EXPO", 8, AP_MotorsMulticopter, _thrust_curve_expo, AP_MOTORS_THST_EXPO_DEFAULT),
 
-    // @Param: THST_MAX
-    // @DisplayName: Thrust Curve Max
-    // @Description: Point at which the thrust saturates
-    // @Values: 0.9:Low, 1.0:High
+    // @Param: SPIN_MAX
+    // @DisplayName: Motor Spin maximum
+    // @Description: Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
+    // @Values: 0.9:Low, 0.95:Default, 1.0:High
     // @User: Advanced
-    AP_GROUPINFO("THST_MAX", 9, AP_MotorsMulticopter, _thrust_curve_max, AP_MOTORS_THST_MAX_DEFAULT),
+    AP_GROUPINFO("SPIN_MAX", 9, AP_MotorsMulticopter, _thrust_curve_max, AP_MOTORS_SPIN_MAX_DEFAULT),
 
-    // @Param: THST_BAT_MAX
+    // @Param: BAT_VOLT_MAX
     // @DisplayName: Battery voltage compensation maximum voltage
     // @Description: Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust).  Recommend 4.4 * cell count, 0 = Disabled
     // @Range: 6 35
     // @Units: Volts
     // @User: Advanced
-    AP_GROUPINFO("THST_BAT_MAX", 10, AP_MotorsMulticopter, _batt_voltage_max, AP_MOTORS_THST_BAT_MAX_DEFAULT),
+    AP_GROUPINFO("BAT_VOLT_MAX", 10, AP_MotorsMulticopter, _batt_voltage_max, AP_MOTORS_BAT_VOLT_MAX_DEFAULT),
 
-    // @Param: THST_BAT_MIN
+    // @Param: BAT_VOLT_MIN
     // @DisplayName: Battery voltage compensation minimum voltage
     // @Description: Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust).  Recommend 3.5 * cell count, 0 = Disabled
     // @Range: 6 35
     // @Units: Volts
     // @User: Advanced
-    AP_GROUPINFO("THST_BAT_MIN", 11, AP_MotorsMulticopter, _batt_voltage_min, AP_MOTORS_THST_BAT_MIN_DEFAULT),
+    AP_GROUPINFO("BAT_VOLT_MIN", 11, AP_MotorsMulticopter, _batt_voltage_min, AP_MOTORS_BAT_VOLT_MIN_DEFAULT),
 
-    // @Param: CURR_MAX
+    // @Param: BAT_CURR_MAX
     // @DisplayName: Motor Current Max
     // @Description: Maximum current over which maximum throttle is limited (0 = Disabled)
     // @Range: 0 200
     // @Units: Amps
     // @User: Advanced
-    AP_GROUPINFO("CURR_MAX", 12, AP_MotorsMulticopter, _batt_current_max, AP_MOTORS_CURR_MAX_DEFAULT),
+    AP_GROUPINFO("BAT_CURR_MAX", 12, AP_MotorsMulticopter, _batt_current_max, AP_MOTORS_BAT_CURR_MAX_DEFAULT),
 
     // @Param: THR_MIX_MIN
     // @DisplayName: Throttle Mix Minimum
diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.h b/libraries/AP_Motors/AP_MotorsMulticopter.h
index 7855b9bde7..529db13570 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.h
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.h
@@ -16,10 +16,10 @@
 #define AP_MOTORS_YAW_HEADROOM_DEFAULT  200
 #define AP_MOTORS_THR_LOW_CMP_DEFAULT   0.5f    // ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control.  Higher favours Attitude over pilot input
 #define AP_MOTORS_THST_EXPO_DEFAULT     0.65f   // set to 0 for linear and 1 for second order approximation
-#define AP_MOTORS_THST_MAX_DEFAULT      0.95f   // throttle which produces the maximum thrust.  (i.e. 0 ~ 1 ) of the full throttle range
-#define AP_MOTORS_THST_BAT_MAX_DEFAULT  0.0f
-#define AP_MOTORS_THST_BAT_MIN_DEFAULT  0.0f
-#define AP_MOTORS_CURR_MAX_DEFAULT      0.0f    // current limiting max default
+#define AP_MOTORS_SPIN_MAX_DEFAULT      0.95f   // throttle which produces the maximum thrust.  (i.e. 0 ~ 1 ) of the full throttle range
+#define AP_MOTORS_BAT_VOLT_MAX_DEFAULT  0.0f    // voltage limiting max default
+#define AP_MOTORS_BAT_VOLT_MIN_DEFAULT  0.0f    // voltage limiting min default (voltage dropping below this level will have no effect)
+#define AP_MOTORS_BAT_CURR_MAX_DEFAULT  0.0f    // current limiting max default
 #define AP_MOTORS_CURRENT_LIMIT_P       0.2f    // replace with parameter - Sets the current limit P term
 #define AP_MOTORS_BATT_VOLT_FILT_HZ     0.5f    // battery voltage filtered at 0.5hz
 #define AP_MOTORS_THR_MIX_MIN_DEFAULT   0.1f    // minimum throttle mix