diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index c162d512751845989bb74c84c89c03bca43fccb1..aff5056af4ece4bd461fe61d7572dce606fce09d 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -5713,8 +5713,8 @@ the setpoint will be capped to MPC_XY_VEL_MAX</short_desc>
       <boolean />
     </parameter>
     <parameter default="0.0" name="THR_MDL_FAC" type="FLOAT">
-      <short_desc>Thrust to PWM model parameter</short_desc>
-      <long_desc>Parameter used to model the relationship between static thrust and motor input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2</long_desc>
+      <short_desc>Thrust to motor control signal model parameter</short_desc>
+      <long_desc>Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.</long_desc>
       <min>0.0</min>
       <max>1.0</max>
     </parameter>