diff --git a/docs/zh/msg_docs/DifferentialPressure.md b/docs/zh/msg_docs/DifferentialPressure.md
index f5fd908df9..83adb2d03e 100644
--- a/docs/zh/msg_docs/DifferentialPressure.md
+++ b/docs/zh/msg_docs/DifferentialPressure.md
@@ -1,17 +1,24 @@
 # DifferentialPressure (UORB message)
 
+Differential-pressure (airspeed) sensor
+
+This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
+The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).
+
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg)
 
 ```c
-uint64 timestamp                     # time since system start (microseconds)
-uint64 timestamp_sample
+# Differential-pressure (airspeed) sensor
+#
+# This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
+# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).
 
-uint32 device_id                     # unique device ID for the sensor that does not change between power cycles
+uint64 timestamp         # [us] Time of publication (since system start)
+uint64 timestamp_sample  # [us] Time of raw data capture
 
-float32 differential_pressure_pa     # differential pressure reading in Pascals (may be negative)
-
-float32 temperature                  # Temperature provided by sensor in degrees Celsius, NAN if unknown
-
-uint32 error_count                   # Number of errors detected by driver
+uint32 device_id                  # [-] Unique device ID for the sensor that does not change between power cycles
+float32 differential_pressure_pa  # [Pa] Differential pressure reading (may be negative)
+float32 temperature               # [degC] [@invalid NaN if unknown] Temperature
+uint32 error_count                # [-] Number of errors detected by driver
 
 ```
diff --git a/docs/zh/msg_docs/SensorBaro.md b/docs/zh/msg_docs/SensorBaro.md
index cf834ccf36..ef4d7a8f28 100644
--- a/docs/zh/msg_docs/SensorBaro.md
+++ b/docs/zh/msg_docs/SensorBaro.md
@@ -1,18 +1,25 @@
 # SensorBaro (UORB message)
 
+Barometer sensor
+
+This is populated by barometer drivers and used by the EKF2 estimator.
+The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
+
 [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg)
 
 ```c
-uint64 timestamp          # time since system start (microseconds)
-uint64 timestamp_sample
+# Barometer sensor
+#
+# This is populated by barometer drivers and used by the EKF2 estimator.
+# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
 
-uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+uint64 timestamp         # [us] Time of publication (since system start)
+uint64 timestamp_sample  # [us] Time of raw data capture
 
-float32 pressure          # static pressure measurement in Pascals
-
-float32 temperature       # temperature in degrees Celsius
-
-uint32 error_count
+uint32 device_id     # [-] Unique device ID for the sensor that does not change between power cycles
+float32 pressure     # [Pa] Static pressure measurement
+float32 temperature  # [degC] Temperature.
+uint32 error_count   # [-] Number of errors detected by driver.
 
 uint8 ORB_QUEUE_LENGTH = 4
 
diff --git a/docs/zh/msg_docs/VehicleStatus.md b/docs/zh/msg_docs/VehicleStatus.md
index 9d46e42cb3..05e3f98bbb 100644
--- a/docs/zh/msg_docs/VehicleStatus.md
+++ b/docs/zh/msg_docs/VehicleStatus.md
@@ -20,20 +20,16 @@ uint8 ARMING_STATE_ARMED    = 2
 
 uint8 latest_arming_reason
 uint8 latest_disarming_reason
-uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
 uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
 uint8 ARM_DISARM_REASON_RC_SWITCH = 2
 uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
 uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
 uint8 ARM_DISARM_REASON_MISSION_START = 5
-uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
-uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
-uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
-uint8 ARM_DISARM_REASON_LOCKDOWN = 10
-uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
-uint8 ARM_DISARM_REASON_SHUTDOWN = 12
-uint8 ARM_DISARM_REASON_UNIT_TEST = 13
+uint8 ARM_DISARM_REASON_LANDING = 6
+uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
+uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_RC_BUTTON = 13
+uint8 ARM_DISARM_REASON_FAILSAFE = 14
 
 uint64 nav_state_timestamp # time when current nav_state activated
 
diff --git a/docs/zh/msg_docs/index.md b/docs/zh/msg_docs/index.md
index dfed09c171..2512c7058d 100644
--- a/docs/zh/msg_docs/index.md
+++ b/docs/zh/msg_docs/index.md
@@ -105,7 +105,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [DebugKeyValue](DebugKeyValue.md)
 - [DebugValue](DebugValue.md)
 - [DebugVect](DebugVect.md)
-- [DifferentialPressure](DifferentialPressure.md)
+- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
 - [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
 - [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
 - [DronecanNodeStatus](DronecanNodeStatus.md)
@@ -240,7 +240,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [SensorAccel](SensorAccel.md)
 - [SensorAccelFifo](SensorAccelFifo.md)
 - [SensorAirflow](SensorAirflow.md)
-- [SensorBaro](SensorBaro.md)
+- [SensorBaro](SensorBaro.md) — Barometer sensor
 - [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form.
   These fields are scaled and offset-compensated where possible and do not
   change with board revisions and sensor updates.