diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index 53bcadd95e..bcb2482600 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -67,7 +67,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = {
 
     // @Param: _RATE_P
     // @DisplayName: Pitch axis rate controller P gain
-    // @Description: Pitch axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output
+    // @Description: Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate
     // @Range: 0.08 0.35
     // @Increment: 0.005
     // @User: Standard
@@ -81,7 +81,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = {
 
     // @Param: _RATE_IMAX
     // @DisplayName: Pitch axis rate controller I gain maximum
-    // @Description: Pitch axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output
+    // @Description: Pitch axis rate controller I gain maximum.  Constrains the maximum that the I term will output
     // @Range: 0 1
     // @Increment: 0.01
     // @User: Standard
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index 4e2eab685a..c8c167adb9 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -50,7 +50,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = {
 
     // @Param: _RATE_P
     // @DisplayName: Roll axis rate controller P gain
-    // @Description: Roll axis rate controller P gain.  Converts the difference between desired roll rate and actual roll rate into a motor speed output
+    // @Description: Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate
     // @Range: 0.08 0.35
     // @Increment: 0.005
     // @User: Standard
@@ -64,7 +64,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = {
 
     // @Param: _RATE_IMAX
     // @DisplayName: Roll axis rate controller I gain maximum
-    // @Description: Roll axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output
+    // @Description: Roll axis rate controller I gain maximum.  Constrains the maximum that the I term will output
     // @Range: 0 1
     // @Increment: 0.01
     // @User: Standard
diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 334f1e66bb..bb419db90f 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -81,7 +81,7 @@ const AP_Param::GroupInfo AP_YawController::var_info[] = {
 
     // @Param: _RATE_P
     // @DisplayName: Yaw axis rate controller P gain
-    // @Description: Yaw axis rate controller P gain.  Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
+    // @Description: Yaw axis rate controller P gain.  Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate
     // @Range: 0.08 0.35
     // @Increment: 0.005
     // @User: Standard
@@ -95,7 +95,7 @@ const AP_Param::GroupInfo AP_YawController::var_info[] = {
 
     // @Param: _RATE_IMAX
     // @DisplayName: Yaw axis rate controller I gain maximum
-    // @Description: Yaw axis rate controller I gain maximum.  Constrains the maximum motor output that the I gain will output
+    // @Description: Yaw axis rate controller I gain maximum.  Constrains the maximum that the I term will output
     // @Range: 0 1
     // @Increment: 0.01
     // @User: Standard