diff --git a/msg/versioned/AirspeedValidated.msg b/msg/versioned/AirspeedValidated.msg
index a54e1510b6..c9d9eb2a61 100644
--- a/msg/versioned/AirspeedValidated.msg
+++ b/msg/versioned/AirspeedValidated.msg
@@ -1,22 +1,27 @@
+# Validated airspeed
+#
+# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
+# Used by controllers, estimators and for airspeed reporting to operator.
+
+
 uint32 MESSAGE_VERSION = 1
 
-uint64 timestamp				# time since system start (microseconds)
+uint64 timestamp  # [us] Time since system start
 
-float32 indicated_airspeed_m_s			# [m/s] Indicated airspeed (IAS), set to NAN if invalid
-float32 calibrated_airspeed_m_s     		# [m/s] Calibrated airspeed (CAS), set to NAN if invalid
-float32 true_airspeed_m_s			# [m/s] True airspeed (TAS), set to NAN if invalid
+float32 indicated_airspeed_m_s   # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+float32 calibrated_airspeed_m_s  # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
+float32 true_airspeed_m_s        # [m/s] [@invalid NaN] True airspeed (TAS)
 
-int8 airspeed_source				# Source of currently published airspeed values
-int8 DISABLED = -1
-int8 GROUND_MINUS_WIND = 0
-int8 SENSOR_1 = 1
-int8 SENSOR_2 = 2
-int8 SENSOR_3 = 3
-int8 SYNTHETIC = 4
+int8 airspeed_source               # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1          # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0  # Ground speed minus wind
+int8 SOURCE_SENSOR_1 = 1           # Sensor 1
+int8 SOURCE_SENSOR_2 = 2           # Sensor 2
+int8 SOURCE_SENSOR_3 = 3           # Sensor 3
+int8 SOURCE_SYNTHETIC = 4          # Synthetic airspeed 
 
-# debug states
-float32 calibrated_ground_minus_wind_m_s 	# CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
-float32 calibraded_airspeed_synth_m_s		# synthetic airspeed in m/s, set to NAN if invalid
-float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
-float32 throttle_filtered			# filtered fixed-wing throttle [-]
-float32 pitch_filtered				# filtered pitch [rad]
+float32 calibrated_ground_minus_wind_m_s  # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
+float32 calibraded_airspeed_synth_m_s     # [m/s] [@invalid NaN] Synthetic airspeed
+float32 airspeed_derivative_filtered      # [m/s^2] Filtered indicated airspeed derivative 
+float32 throttle_filtered                 # [-] Filtered fixed-wing throttle 
+float32 pitch_filtered                    # [rad] Filtered pitch 
diff --git a/src/drivers/osd/msp_osd/uorb_to_msp.cpp b/src/drivers/osd/msp_osd/uorb_to_msp.cpp
index 20caca3e38..bb2db04a16 100644
--- a/src/drivers/osd/msp_osd/uorb_to_msp.cpp
+++ b/src/drivers/osd/msp_osd/uorb_to_msp.cpp
@@ -319,7 +319,7 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position,
 	//raw_gps.hdop = vehicle_gps_position_struct.hdop
 	raw_gps.numSat = vehicle_gps_position.satellites_used;
 
-	if (airspeed_validated.airspeed_source >= airspeed_validated_s::GROUND_MINUS_WIND
+	if (airspeed_validated.airspeed_source >= airspeed_validated_s::SOURCE_GROUND_MINUS_WIND
 	    && PX4_ISFINITE(airspeed_validated.indicated_airspeed_m_s)
 	    && airspeed_validated.indicated_airspeed_m_s > 0.f) {
 		raw_gps.groundSpeed = airspeed_validated.indicated_airspeed_m_s * 100;
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp
index 8836febb8d..48c2dc8261 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp
@@ -54,9 +54,9 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter)
 
 		reporter.setIsPresent(health_component_t::differential_pressure);
 
-		const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_1
-						  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_2
-						  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_3;
+		const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_1
+						  || airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_2
+						  || airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_3;
 
 		const float airspeed_calibrated_from_sensor = airspeed_from_sensor ? airspeed_validated.calibrated_airspeed_m_s : NAN;
 
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 197179dc6d..ec2c975500 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -2085,10 +2085,10 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps)
 		if (_airspeed_validated_sub.update(&airspeed_validated)) {
 
 			if (PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
-			    && (airspeed_validated.airspeed_source > airspeed_validated_s::GROUND_MINUS_WIND)
+			    && (airspeed_validated.airspeed_source > airspeed_validated_s::SOURCE_GROUND_MINUS_WIND)
 			   ) {
 
-				_ekf.setSyntheticAirspeed(airspeed_validated.airspeed_source == airspeed_validated_s::SYNTHETIC);
+				_ekf.setSyntheticAirspeed(airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SYNTHETIC);
 
 				float cas2tas = 1.f;
 
diff --git a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
index 1c42f5838c..73df2a8683 100644
--- a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+++ b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
@@ -607,7 +607,7 @@ void FwLateralLongitudinalControl::updateAirspeed() {
 		// do not use synthetic airspeed as this would create a thrust loop
 		if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)
 		    && PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
-		    && airspeed_validated.airspeed_source != airspeed_validated_s::SYNTHETIC) {
+		    && airspeed_validated.airspeed_source != airspeed_validated_s::SOURCE_SYNTHETIC) {
 
 			_time_airspeed_last_valid = airspeed_validated.timestamp;
 			_long_control_state.airspeed_eas = airspeed_validated.calibrated_airspeed_m_s;
diff --git a/src/modules/fw_mode_manager/FixedWingModeManager.cpp b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
index 9d43e1f637..538961c324 100644
--- a/src/modules/fw_mode_manager/FixedWingModeManager.cpp
+++ b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
@@ -166,7 +166,7 @@ FixedWingModeManager::airspeed_poll()
 
 		// do not use synthetic airspeed as it's for the use here not reliable enough
 		if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)
-		    && airspeed_validated.airspeed_source != airspeed_validated_s::SYNTHETIC) {
+		    && airspeed_validated.airspeed_source != airspeed_validated_s::SOURCE_SYNTHETIC) {
 
 			_airspeed_eas = airspeed_validated.calibrated_airspeed_m_s;
 		}
diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp
index 0ca1523115..c53a99f670 100644
--- a/src/modules/land_detector/FixedwingLandDetector.cpp
+++ b/src/modules/land_detector/FixedwingLandDetector.cpp
@@ -93,9 +93,9 @@ bool FixedwingLandDetector::_get_landed_state()
 		airspeed_validated_s airspeed_validated{};
 		_airspeed_validated_sub.copy(&airspeed_validated);
 
-		const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_1
-						  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_2
-						  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_3;
+		const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_1
+						  || airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_2
+						  || airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_3;
 
 		bool airspeed_invalid = false;
 
diff --git a/src/modules/mavlink/streams/VFR_HUD.hpp b/src/modules/mavlink/streams/VFR_HUD.hpp
index 76af7fc39e..c7d5f014d2 100644
--- a/src/modules/mavlink/streams/VFR_HUD.hpp
+++ b/src/modules/mavlink/streams/VFR_HUD.hpp
@@ -82,9 +82,9 @@ private:
 
 			airspeed_validated_s airspeed_validated{};
 			_airspeed_validated_sub.copy(&airspeed_validated);
-			const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_1
-							  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_2
-							  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_3;
+			const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_1
+							  || airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_2
+							  || airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_3;
 
 			mavlink_vfr_hud_t msg{};
 			// display NAN in case of source not being one of the sensors
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 081c5a8106..75c124d4fe 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -368,9 +368,9 @@ VtolAttitudeControl::Run()
 			airspeed_validated_s airspeed_validated;
 
 			if (_airspeed_validated_sub.copy(&airspeed_validated)) {
-				const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_1
-								  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_2
-								  || airspeed_validated.airspeed_source == airspeed_validated_s::SENSOR_3;
+				const bool airspeed_from_sensor = airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_1
+								  || airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_2
+								  || airspeed_validated.airspeed_source == airspeed_validated_s::SOURCE_SENSOR_3;
 				const bool use_airspeed = _param_fw_use_airspd.get() && airspeed_from_sensor;
 
 				_calibrated_airspeed = use_airspeed ? airspeed_validated.calibrated_airspeed_m_s : NAN;