diff --git a/docs/en/ros2/px4_ros2_control_interface.md b/docs/en/ros2/px4_ros2_control_interface.md
index e7e3151c6c..79866097af 100644
--- a/docs/en/ros2/px4_ros2_control_interface.md
+++ b/docs/en/ros2/px4_ros2_control_interface.md
@@ -262,9 +262,9 @@ This section steps through an example of how to create a mode executor class.
 class MyModeExecutor : public px4_ros2::ModeExecutorBase // [1]
 {
 public:
-  MyModeExecutor(rclcpp::Node & node, px4_ros2::ModeBase & owned_mode) // [2]
-  : ModeExecutorBase(node, px4_ros2::ModeExecutorBase::Settings{}, owned_mode),
-    _node(node)
+  MyModeExecutor(px4_ros2::ModeBase & owned_mode) // [2]
+  : ModeExecutorBase(px4_ros2::ModeExecutorBase::Settings{}, owned_mode),
+    _node(owned_mode.node())
   { }
 
   enum class State // [3]
@@ -340,8 +340,8 @@ The used types also define the compatibility with different vehicle types.
 
 The following sections provide a list of supported setpoint types:
 
-- [GotoSetpointType](#go-to-setpoint-gotosetpointtype): Smooth position and (optionally) heading control
-- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
+- [MulticopterGotoSetpointType](#go-to-setpoint-multicoptergotosetpointtype): <Badge type="warning" text="MC only" /> Smooth position and (optionally) heading control
+- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="warning" text="FW only" /> <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
 - [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints
 
 :::tip
@@ -350,15 +350,19 @@ The other setpoint types are currently experimental, and can be found in: [px4_r
 You can add your own setpoint types by adding a class that inherits from `px4_ros2::SetpointBase`, sets the configuration flags according to what the setpoint requires, and then publishes any topic containing a setpoint.
 :::
 
-#### Go-to Setpoint (GotoSetpointType)
+#### Go-to Setpoint (MulticopterGotoSetpointType)
+
+<Badge type="warning" text="MC only" />
 
 ::: info
 This setpoint type is currently only supported for multicopters.
 :::
 
-Smoothly control position and (optionally) heading setpoints with the [`px4_ros2::GotoSetpointType`](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp) setpoint type.
+Smoothly control position and (optionally) heading setpoints with the [`px4_ros2::MulticopterGotoSetpointType`](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/multicopter/goto.hpp) setpoint type.
 The setpoint type is streamed to FMU based position and heading smoothers formulated with time-optimal, maximum-jerk trajectories, with velocity and acceleration constraints.
 
+There is also a [`px4_ros2::MulticopterGotoGlobalSetpointType`](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/multicopter/goto.hpp) class that allows to send setpoints in global coordinates.
+
 The most trivial use is simply inputting a 3D position into the update method:
 
 ```cpp
@@ -549,7 +553,7 @@ If you want to control an actuator that does not control the vehicle's motion, b
 
 To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration:
 
-- Multicopter mode: use a setpoint type that is compatible with multicopter control. For example: either the [`GotoSetpointType`](#go-to-setpoint-gotosetpointtype) or the [`TrajectorySetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1TrajectorySetpointType.html).
+- Multicopter mode: use a setpoint type that is compatible with multicopter control. For example: either the [`MulticopterGotoSetpointType`](#go-to-setpoint-multicoptergotosetpointtype) or the [`TrajectorySetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1TrajectorySetpointType.html).
 - Fixed-wing mode: Use the [`FwLateralLongitudinalSetpointType`](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype).
 
 As long as the VTOL remains in either multicopter or fixed-wing mode throughout the external mode, no additional handling is required.