diff --git a/msg/OrbitStatus.msg b/msg/OrbitStatus.msg
index 531fa41453..dbaa9a1b9f 100644
--- a/msg/OrbitStatus.msg
+++ b/msg/OrbitStatus.msg
@@ -1,15 +1,28 @@
-# ORBIT_YAW_BEHAVIOUR
-uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
-uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
-uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
-uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
-uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
-uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
+# Orbit status
+#
+# Current state of an orbit or loiter manoeuver, published while the maneuver is executing.
+# For multirotors, published by the orbit flight task (FlightTaskOrbit) on each control cycle
+# when a valid GPS projection is available.
+# For fixed-wing, published by FixedWingModeManager during loiter.
+# Subscribed by the MAVLink module and streamed to the GCS as ORBIT_EXECUTION_STATUS (message 360).
 
-uint64 timestamp # time since system start (microseconds)
-float32 radius   # Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]
-uint8 frame      # The coordinate system of the fields: x, y, z.
-float64 x        # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
-float64 y        # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
-float32 z        # Altitude of center point. Coordinate system depends on frame field.
-uint8 yaw_behaviour
+uint64 timestamp # [us] Time since system start
+float32 radius # [m] Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
+
+uint8 frame # [@enum FRAME] The coordinate system of the fields: x, y, z
+uint8 FRAME_GLOBAL = 0 # WGS84 global frame, MSL altitude. x/y = latitude/longitude (degrees × 1e7)
+uint8 FRAME_LOCAL_NED = 1 # Local NED frame. x/y = north/east position (meters × 1e4)
+uint8 FRAME_GLOBAL_RELATIVE_ALT = 3 # WGS84 global frame, altitude above home. x/y = latitude/longitude (degrees × 1e7)
+uint8 FRAME_GLOBAL_TERRAIN_ALT = 10 # WGS84 global frame, altitude above terrain. x/y = latitude/longitude (degrees × 1e7)
+
+float64 x # X coordinate of center point. Coordinate system depends on frame field: `local = x position in meters * 1e4`, `global = latitude in degrees * 1e7`.
+float64 y # Y coordinate of center point. Coordinate system depends on frame field: `local = y position in meters * 1e4`, `global = longitude in degrees * 1e7`.
+float32 z # Altitude of center point. Coordinate system depends on frame field.
+
+uint8 yaw_behaviour # [@enum ORBIT_YAW_BEHAVIOUR]
+uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0 # Vehicle front points to the center (default).
+uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1 # Vehicle front holds heading when message received.
+uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2 # Yaw uncontrolled.
+uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3 # Vehicle front follows flight path (tangential to circle).
+uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4 # Yaw controlled by RC input.
+uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5 # Vehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.