diff --git a/msg/vehicle_thrust_setpoint.msg b/msg/vehicle_thrust_setpoint.msg
index 1c292b4c93..27c35726b9 100644
--- a/msg/vehicle_thrust_setpoint.msg
+++ b/msg/vehicle_thrust_setpoint.msg
@@ -2,4 +2,4 @@
 uint64 timestamp        # time since system start (microseconds)
 uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
 
-float32[3] xyz          # thrust setpoint along X, Y, Z body axis (in N)
+float32[3] xyz          # thrust setpoint along X, Y, Z body axis [-1, 1]
diff --git a/msg/vehicle_torque_setpoint.msg b/msg/vehicle_torque_setpoint.msg
index c2c3e71106..988d583592 100644
--- a/msg/vehicle_torque_setpoint.msg
+++ b/msg/vehicle_torque_setpoint.msg
@@ -2,4 +2,4 @@
 uint64 timestamp        # time since system start (microseconds)
 uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
 
-float32[3] xyz          # torque setpoint about X, Y, Z body axis (in N.m)
+float32[3] xyz          # torque setpoint about X, Y, Z body axis (normalized)