diff --git a/docs/en/msg_docs/TransponderReport.md b/docs/en/msg_docs/TransponderReport.md
index 9740350484..43d3d7d4dc 100644
--- a/docs/en/msg_docs/TransponderReport.md
+++ b/docs/en/msg_docs/TransponderReport.md
@@ -4,39 +4,41 @@ pageClass: is-wide-page
 
 # TransponderReport (UORB message)
 
+Transponder report.
+
+ADSB report closely matching MAVLink's ADSB_VEHICLE (246) message with few internal extra fields at the end.
+Populated by ADSB receivers, processed for user messaging and navigator, logging and republishing ADSB information.
+
 **TOPICS:** transponder_report
 
 ## Fields
 
-| Name                                        | Type        | Unit [Frame] | Range/Enum | Description                                                    |
-| ------------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------------- |
-| <a id="fld_timestamp"></a>timestamp         | `uint64`    |              |            | time since system start (microseconds)                         |
-| <a id="fld_icao_address"></a>icao_address   | `uint32`    |              |            | ICAO address                                                   |
-| <a id="fld_lat"></a>lat                     | `float64`   |              |            | Latitude, expressed as degrees                                 |
-| <a id="fld_lon"></a>lon                     | `float64`   |              |            | Longitude, expressed as degrees                                |
-| <a id="fld_altitude_type"></a>altitude_type | `uint8`     |              |            | Type from ADSB_ALTITUDE_TYPE enum                              |
-| <a id="fld_altitude"></a>altitude           | `float32`   |              |            | Altitude(ASL) in meters                                        |
-| <a id="fld_heading"></a>heading             | `float32`   |              |            | Course over ground in radians, 0 to 2pi, 0 is north            |
-| <a id="fld_hor_velocity"></a>hor_velocity   | `float32`   |              |            | The horizontal velocity in m/s                                 |
-| <a id="fld_ver_velocity"></a>ver_velocity   | `float32`   |              |            | The vertical velocity in m/s, positive is up                   |
-| <a id="fld_callsign"></a>callsign           | `char[9]`   |              |            | The callsign, 8+null                                           |
-| <a id="fld_emitter_type"></a>emitter_type   | `uint8`     |              |            | Type from ADSB_EMITTER_TYPE enum                               |
-| <a id="fld_tslc"></a>tslc                   | `uint8`     |              |            | Time since last communication in seconds                       |
-| <a id="fld_flags"></a>flags                 | `uint16`    |              |            | Flags to indicate various statuses including valid data fields |
-| <a id="fld_squawk"></a>squawk               | `uint16`    |              |            | Squawk code                                                    |
-| <a id="fld_uas_id"></a>uas_id               | `uint8[18]` |              |            | Unique UAS ID                                                  |
+| Name                                        | Type        | Unit [Frame] | Range/Enum                              | Description                                                                           |
+| ------------------------------------------- | ----------- | ------------ | --------------------------------------- | ------------------------------------------------------------------------------------- |
+| <a id="fld_timestamp"></a>timestamp         | `uint64`    | us           |                                         | Time since system start                                                               |
+| <a id="fld_icao_address"></a>icao_address   | `uint32`    |              |                                         | ICAO address                                                                          |
+| <a id="fld_lat"></a>lat                     | `float64`   | deg          |                                         | Latitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS                                  |
+| <a id="fld_lon"></a>lon                     | `float64`   | deg          |                                         | Longitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS                                 |
+| <a id="fld_altitude_type"></a>altitude_type | `uint8`     |              |                                         | Type from ADSB_ALTITUDE_TYPE enum                                                     |
+| <a id="fld_altitude"></a>altitude           | `float32`   | m            |                                         | Altitude (ASL), validity flag: PX4_ADSB_FLAGS_VALID_ALTITUDE                          |
+| <a id="fld_heading"></a>heading             | `float32`   | rad          |                                         | Course over ground, 0 to 2pi, 0 is north, validity flag: PX4_ADSB_FLAGS_VALID_HEADING |
+| <a id="fld_hor_velocity"></a>hor_velocity   | `float32`   | m/s          |                                         | Horizontal velocity, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY                     |
+| <a id="fld_ver_velocity"></a>ver_velocity   | `float32`   | m/s          |                                         | Vertical velocity, positive is up, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY       |
+| <a id="fld_callsign"></a>callsign           | `char[9]`   |              |                                         | The callsign, 8+null, validity flag: PX4_ADSB_FLAGS_VALID_CALLSIGN                    |
+| <a id="fld_emitter_type"></a>emitter_type   | `uint8`     |              | [ADSB_EMITTER_TYPE](#ADSB_EMITTER_TYPE) | Type matching MAVLink's ADSB_EMITTER_TYPE enum                                        |
+| <a id="fld_tslc"></a>tslc                   | `uint8`     | s            |                                         | Time since last communication                                                         |
+| <a id="fld_flags"></a>flags                 | `uint16`    |              | [PX4_ADSB_FLAGS](#PX4_ADSB_FLAGS)       | Flags matching MAVLink's ADSB_FLAGS bitmask                                           |
+| <a id="fld_squawk"></a>squawk               | `uint16`    |              |                                         | Squawk code, validity flag: PX4_ADSB_FLAGS_VALID_SQUAWK                               |
+| <a id="fld_uas_id"></a>uas_id               | `uint8[18]` |              |                                         | Unique UAS ID, not part of ADSB_VEHICLE MAVLink message                               |
 
-## Constants
+## Enums
+
+### ADSB_EMITTER_TYPE {#ADSB_EMITTER_TYPE}
+
+Used in field(s): [emitter_type](#fld_emitter_type)
 
 | Name                                                                                  | Type     | Value | Description |
 | ------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
-| <a id="#PX4_ADSB_FLAGS_VALID_COORDS"></a> PX4_ADSB_FLAGS_VALID_COORDS                 | `uint16` | 1     |
-| <a id="#PX4_ADSB_FLAGS_VALID_ALTITUDE"></a> PX4_ADSB_FLAGS_VALID_ALTITUDE             | `uint16` | 2     |
-| <a id="#PX4_ADSB_FLAGS_VALID_HEADING"></a> PX4_ADSB_FLAGS_VALID_HEADING               | `uint16` | 4     |
-| <a id="#PX4_ADSB_FLAGS_VALID_VELOCITY"></a> PX4_ADSB_FLAGS_VALID_VELOCITY             | `uint16` | 8     |
-| <a id="#PX4_ADSB_FLAGS_VALID_CALLSIGN"></a> PX4_ADSB_FLAGS_VALID_CALLSIGN             | `uint16` | 16    |
-| <a id="#PX4_ADSB_FLAGS_VALID_SQUAWK"></a> PX4_ADSB_FLAGS_VALID_SQUAWK                 | `uint16` | 32    |
-| <a id="#PX4_ADSB_FLAGS_RETRANSLATE"></a> PX4_ADSB_FLAGS_RETRANSLATE                   | `uint16` | 256   |
 | <a id="#ADSB_EMITTER_TYPE_NO_INFO"></a> ADSB_EMITTER_TYPE_NO_INFO                     | `uint16` | 0     |
 | <a id="#ADSB_EMITTER_TYPE_LIGHT"></a> ADSB_EMITTER_TYPE_LIGHT                         | `uint16` | 1     |
 | <a id="#ADSB_EMITTER_TYPE_SMALL"></a> ADSB_EMITTER_TYPE_SMALL                         | `uint16` | 2     |
@@ -58,7 +60,29 @@ pageClass: is-wide-page
 | <a id="#ADSB_EMITTER_TYPE_SERVICE_SURFACE"></a> ADSB_EMITTER_TYPE_SERVICE_SURFACE     | `uint16` | 18    |
 | <a id="#ADSB_EMITTER_TYPE_POINT_OBSTACLE"></a> ADSB_EMITTER_TYPE_POINT_OBSTACLE       | `uint16` | 19    |
 | <a id="#ADSB_EMITTER_TYPE_ENUM_END"></a> ADSB_EMITTER_TYPE_ENUM_END                   | `uint16` | 20    |
-| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH                                       | `uint8`  | 16    |
+
+### PX4_ADSB_FLAGS {#PX4_ADSB_FLAGS}
+
+Used in field(s): [flags](#fld_flags)
+
+| Name                                                                                        | Type     | Value | Description |
+| ------------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
+| <a id="#PX4_ADSB_FLAGS_VALID_COORDS"></a> PX4_ADSB_FLAGS_VALID_COORDS                       | `uint16` | 1     |
+| <a id="#PX4_ADSB_FLAGS_VALID_ALTITUDE"></a> PX4_ADSB_FLAGS_VALID_ALTITUDE                   | `uint16` | 2     |
+| <a id="#PX4_ADSB_FLAGS_VALID_HEADING"></a> PX4_ADSB_FLAGS_VALID_HEADING                     | `uint16` | 4     |
+| <a id="#PX4_ADSB_FLAGS_VALID_VELOCITY"></a> PX4_ADSB_FLAGS_VALID_VELOCITY                   | `uint16` | 8     |
+| <a id="#PX4_ADSB_FLAGS_VALID_CALLSIGN"></a> PX4_ADSB_FLAGS_VALID_CALLSIGN                   | `uint16` | 16    |
+| <a id="#PX4_ADSB_FLAGS_VALID_SQUAWK"></a> PX4_ADSB_FLAGS_VALID_SQUAWK                       | `uint16` | 32    |
+| <a id="#PX4_ADSB_FLAGS_SIMULATED"></a> PX4_ADSB_FLAGS_SIMULATED                             | `uint16` | 64    |
+| <a id="#PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID"></a> PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID | `uint16` | 128   |
+| <a id="#PX4_ADSB_FLAGS_BARO_VALID"></a> PX4_ADSB_FLAGS_BARO_VALID                           | `uint16` | 256   |
+| <a id="#PX4_ADSB_FLAGS_SOURCE_UAT"></a> PX4_ADSB_FLAGS_SOURCE_UAT                           | `uint16` | 32768 |
+
+## Constants
+
+| Name                                            | Type    | Value | Description |
+| ----------------------------------------------- | ------- | ----- | ----------- |
+| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16    |
 
 ## Source Message
 
@@ -67,33 +91,24 @@ pageClass: is-wide-page
 ::: details Click here to see original file
 
 ```c
-uint64 timestamp	# time since system start (microseconds)
-uint32 icao_address 	# ICAO address
-float64 lat 		# Latitude, expressed as degrees
-float64 lon 		# Longitude, expressed as degrees
-uint8 altitude_type	# Type from ADSB_ALTITUDE_TYPE enum
-float32 altitude 	# Altitude(ASL) in meters
-float32 heading 	# Course over ground in radians, 0 to 2pi, 0 is north
-float32 hor_velocity	# The horizontal velocity in m/s
-float32 ver_velocity 	# The vertical velocity in m/s, positive is up
-char[9] callsign	# The callsign, 8+null
-uint8 emitter_type 	# Type from ADSB_EMITTER_TYPE enum
-uint8 tslc 		# Time since last communication in seconds
-uint16 flags 		# Flags to indicate various statuses including valid data fields
-uint16 squawk 		# Squawk code
-uint8[18] uas_id	# Unique UAS ID
+# Transponder report
+#
+# ADSB report closely matching MAVLink's ADSB_VEHICLE (246) message with few internal extra fields at the end.
+# Populated by ADSB receivers, processed for user messaging and navigator, logging and republishing ADSB information.
 
-# ADSB flags
-uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
-uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
-uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
-uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
-uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
-uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
-uint16 PX4_ADSB_FLAGS_RETRANSLATE = 256
+uint64 timestamp # [us] Time since system start
 
-#ADSB Emitter Data:
-#from mavlink/v2.0/common/common.h
+uint32 icao_address # [-] ICAO address
+float64 lat # [deg] Latitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
+float64 lon # [deg] Longitude, validity flag: PX4_ADSB_FLAGS_VALID_COORDS
+uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum
+float32 altitude # [m] Altitude (ASL), validity flag: PX4_ADSB_FLAGS_VALID_ALTITUDE
+float32 heading # [rad] Course over ground, 0 to 2pi, 0 is north, validity flag: PX4_ADSB_FLAGS_VALID_HEADING
+float32 hor_velocity # [m/s] Horizontal velocity, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
+float32 ver_velocity # [m/s] Vertical velocity, positive is up, validity flag: PX4_ADSB_FLAGS_VALID_VELOCITY
+char[9] callsign # The callsign, 8+null, validity flag: PX4_ADSB_FLAGS_VALID_CALLSIGN
+
+uint8 emitter_type # [@enum ADSB_EMITTER_TYPE] Type matching MAVLink's ADSB_EMITTER_TYPE enum
 uint16 ADSB_EMITTER_TYPE_NO_INFO=0
 uint16 ADSB_EMITTER_TYPE_LIGHT=1
 uint16 ADSB_EMITTER_TYPE_SMALL=2
@@ -116,6 +131,24 @@ uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
 uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
 uint16 ADSB_EMITTER_TYPE_ENUM_END=20
 
+uint8 tslc # [s] Time since last communication
+
+uint16 flags # [@enum PX4_ADSB_FLAGS] Flags matching MAVLink's ADSB_FLAGS bitmask
+uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
+uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
+uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
+uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
+uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
+uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
+uint16 PX4_ADSB_FLAGS_SIMULATED = 64
+uint16 PX4_ADSB_FLAGS_VERTICAL_VELOCITY_VALID = 128
+uint16 PX4_ADSB_FLAGS_BARO_VALID = 256
+uint16 PX4_ADSB_FLAGS_SOURCE_UAT = 32768
+
+uint16 squawk # [-] Squawk code, validity flag: PX4_ADSB_FLAGS_VALID_SQUAWK
+
+uint8[18] uas_id # [-] Unique UAS ID, not part of ADSB_VEHICLE MAVLink message
+
 uint8 ORB_QUEUE_LENGTH = 16
 ```
 
diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md
index 9b68b3568e..74a5900c1a 100644
--- a/docs/en/msg_docs/index.md
+++ b/docs/en/msg_docs/index.md
@@ -272,7 +272,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [TiltrotorExtraControls](TiltrotorExtraControls.md)
 - [TimesyncStatus](TimesyncStatus.md)
 - [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame. Input to position controller.
-- [TransponderReport](TransponderReport.md)
+- [TransponderReport](TransponderReport.md) — Transponder report.
 - [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM. then the frequency, duration are used otherwise those values are ignored.
 - [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type.
 - [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type.