diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 883f9ce45eedb306f484df49bbcea6f446325d95..2f07ba4a4c53d4724902269b4224f93ec1b7d784 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4742,11 +4742,11 @@ Setting this parameter to 0 disables the filter</short_desc>
     </parameter>
     <parameter default="3" name="MPC_POS_MODE" type="INT32">
       <short_desc>Manual-Position control sub-mode</short_desc>
-      <long_desc>The supported sub-modes are: 0 Default position control where sticks map to position/velocity directly. Maximum speeds is MPC_VEL_MANUAL. 1 Smooth position control where setpoints are adjusted based on acceleration limits and jerk limits. 2 Sport mode that is the same Default position control but with velocity limits set to the maximum allowed speeds (MPC_XY_VEL_MAX) 3 Smooth position control with maximum acceleration and jerk limits (different algorithm than 1).</long_desc>
+      <long_desc>The supported sub-modes are: 0 Simple position control where sticks map directly to velocity setpoints without smoothing. Useful for velocity control tuning. 1 Smooth position control with maximum acceleration and jerk limits based on slew-rates. 3 Smooth position control with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1).</long_desc>
       <values>
-        <value code="0">Default position control</value>
+        <value code="0">Simple position control</value>
         <value code="1">Smooth position control</value>
-        <value code="3">Smooth position control (Velocity)</value>
+        <value code="3">Smooth position control (Jerk optimized)</value>
       </values>
     </parameter>
     <parameter default="1.0" name="MPC_SPOOLUP_TIME" type="FLOAT">