diff --git a/msg/trajectory_bezier.msg b/msg/trajectory_bezier.msg
index 28701a49df..ed2aaa61ad 100644
--- a/msg/trajectory_bezier.msg
+++ b/msg/trajectory_bezier.msg
@@ -17,12 +17,11 @@ uint8 MAV_TRAJECTORY_REPRESENTATION_BEZIER = 1
 
 uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
 
-float32[6] point_0    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-float32[6] point_1    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-float32[6] point_2    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-float32[6] point_3    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-float32[6] point_4    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 4 yaw, index 5 yaw speed
-
+float32[6] point_0    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
+float32[6] point_1    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
+float32[6] point_2    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
+float32[6] point_3    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
+float32[6] point_4    # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position wp, index 3 time horizon, index 4 yaw, index 5 yaw speed
 bool[5] point_valid   # States if respective point is valid
 
 # TOPICS trajectory_bezier trajectory_bezier_desired
diff --git a/msg/trajectory_waypoint.msg b/msg/trajectory_waypoint.msg
index 5afe9d79b7..55783cc654 100644
--- a/msg/trajectory_waypoint.msg
+++ b/msg/trajectory_waypoint.msg
@@ -25,11 +25,11 @@ uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
 
 uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
 
-float32[11] point_0    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
-float32[11] point_1    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
-float32[11] point_2    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
-float32[11] point_3    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
-float32[11] point_4    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
+float32[11] point_0    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
+float32[11] point_1    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
+float32[11] point_2    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
+float32[11] point_3    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
+float32[11] point_4    # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
 
 bool[5] point_valid   # States if respective point is valid