diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 39e624b127b33b728c1bbda97441e495f9d9a485..8b8b68dc30822693b6103af6a4095c9521626fa4 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -10802,9 +10802,9 @@ tailsitter, tiltrotor: main throttle
0.01
- Maximum allowed down-pitch the controller is able to demand. This prevents large, negative
-lift values being created when facing strong winds. The vehicle will use the pusher motor
-to accelerate forward if necessary
+ Maximum allowed angle the vehicle is allowed to pitch down to generate forward force
+when fixed-wing forward actuation is active (seeVT_FW_TRHUST_EN).
+If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead
0.0
45.0
@@ -10812,9 +10812,24 @@ to accelerate forward if necessary
Lock elevons in multicopter mode
If set to 1 the elevons are locked in multicopter mode
-
- Fixed wing thrust scale for hover forward flight
- Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy.
+
+ Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down).
+This technique can be used to avoid the plane having to pitch down in order to move forward.
+This prevents large, negative lift values being created when facing strong winds.
+Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL).
+Only active if demaded down pitch is above VT_DWN_PITCH_MAX, and uses VT_FWD_THRUST_SC to get from
+demanded down pitch to fixed-wing actuation
+
+ Disable FW forward actuation in hover.
+ Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING).
+ Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.
+ Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.
+ Enable FW forward actuation in hover in altitude, position and auto modes.
+
+
+
+ Fixed-wing actuator thrust scale for hover forward flight
+ Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Only active if demaded down pitch is above VT_DWN_PITCH_MAX. Enabled via VT_FWD_THRUST_EN.
0.0
2.0