diff --git a/msg/versioned/ManualControlSetpoint.msg b/msg/versioned/ManualControlSetpoint.msg
index 8bfb4f65a2f..cd481770661 100644
--- a/msg/versioned/ManualControlSetpoint.msg
+++ b/msg/versioned/ManualControlSetpoint.msg
@@ -1,7 +1,7 @@
 # Manual control setpoint message
 #
 # This message provides a representation of a manual control input, such as an RC controller or MAVLink controller (Joystick).
-# It defines the manual_control_input topic to represent configured inputs, and the manual_control_setpoint topic ot represent the selected input.
+# It defines the manual_control_input topic to represent configured inputs, and the manual_control_setpoint topic to represent the selected input.
 # The message includes fields for the roll, pitch, yaw, throttle and flaps, along with auxiliary channels and button states.
 #
 # Note: On a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right.
@@ -12,7 +12,7 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp # [us] Time since system start
 uint64 timestamp_sample # [us] Timestamp of the raw data
 
-bool valid # True if the current data is valid.
+bool valid # True if the current data is valid
 
 uint8 data_source # [@enum SOURCE] Source of the manual control setpoint
 uint8 SOURCE_UNKNOWN = 0 # Unknown source
@@ -24,22 +24,21 @@ uint8 SOURCE_MAVLINK_3 = 5 # MAVLink instance 3
 uint8 SOURCE_MAVLINK_4 = 6 # MAVLink instance 4
 uint8 SOURCE_MAVLINK_5 = 7 # MAVLink instance 5
 
+float32 roll # [-] [@range -1,1] [@invalid NaN] Positive values are generally used for: move right, positive roll rotation, right side down
+float32 pitch # [-] [@range -1,1] [@invalid NaN] Positive values are generally used for: move forward, negative pitch rotation, nose down
+float32 yaw # [-] [@range -1,1] [@invalid NaN] Positive values are generally used for: positive yaw rotation, clockwise when seen top down
+float32 throttle # [-] [@range -1,1] [@invalid NaN] Positive values are generally used for: move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
 
-float32 roll # [@range -1,1] [@invalid NaN] Positive values are generally used for: move right, positive roll rotation, right side down
-float32 pitch # [@range -1,1] [@invalid NaN] Positive values are generally used for: move forward, negative pitch rotation, nose down
-float32 yaw # [@range -1,1] [@invalid NaN] Positive values are generally used for: positive yaw rotation, clockwise when seen top down
-float32 throttle # [@range -1,1] [@invalid NaN] Positive values are generally used for: move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
+float32 flaps # [-] [@range -1,1] [@invalid NaN] Position of flaps switch/knob/lever
 
-float32 flaps # [@range -1, 1] [@invalid NaN] Position of flaps switch/knob/lever
+float32 aux1 # [-] [@range -1,1] [@invalid NaN] Auxiliary channel 1
+float32 aux2 # [-] [@range -1,1] [@invalid NaN] Auxiliary channel 2
+float32 aux3 # [-] [@range -1,1] [@invalid NaN] Auxiliary channel 3
+float32 aux4 # [-] [@range -1,1] [@invalid NaN] Auxiliary channel 4
+float32 aux5 # [-] [@range -1,1] [@invalid NaN] Auxiliary channel 5
+float32 aux6 # [-] [@range -1,1] [@invalid NaN] Auxiliary channel 6
 
-float32 aux1 # [@range -1,1] [@invalid NaN] Auxiliary channel 1
-float32 aux2 # [@range -1,1] [@invalid NaN] Auxiliary channel 2
-float32 aux3 # [@range -1,1] [@invalid NaN] Auxiliary channel 3
-float32 aux4 # [@range -1,1] [@invalid NaN] Auxiliary channel 4
-float32 aux5 # [@range -1,1] [@invalid NaN] Auxiliary channel 5
-float32 aux6 # [@range -1,1] [@invalid NaN] Auxiliary channel 6
-
-bool sticks_moving # Manual control override request in an auto or offboard mode, only gets true if feature is enabled
+bool sticks_moving # True once stick movement exceeds a velocity threshold (if feature is enabled). Used by Commander to trigger a manual override in auto/offboard modes.
 
 uint16 buttons # From uint16 buttons field of MAVLink MANUAL_CONTROL message