diff --git a/msg/FixedWingLateralGuidanceStatus.msg b/msg/FixedWingLateralGuidanceStatus.msg
index 3a8012c140c..ed959808c4f 100644
--- a/msg/FixedWingLateralGuidanceStatus.msg
+++ b/msg/FixedWingLateralGuidanceStatus.msg
@@ -1,5 +1,5 @@
 # Fixed Wing Lateral Guidance Status message
-# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
+# Published by fw_mode_manager module to report the resultant lateral setpoints and NPFG debug outputs
 
 uint64 timestamp                # time since system start (microseconds)
 
diff --git a/msg/versioned/LongitudinalControlConfiguration.msg b/msg/versioned/LongitudinalControlConfiguration.msg
index ef370729309..1ee0f7ccc98 100644
--- a/msg/versioned/LongitudinalControlConfiguration.msg
+++ b/msg/versioned/LongitudinalControlConfiguration.msg
@@ -11,8 +11,8 @@ float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN.
 float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN.
 float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN.
 float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN.
-float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
-float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLMB_R_SP if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
+float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_R_SP if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
 float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only
 bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
 bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller