diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index ccf7bd8cd7f..669b72fa099 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -1457,8 +1457,12 @@
         <param index="2" label="Actuator 2" minValue="-1" maxValue="1">Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.</param>
         <param index="3" label="Actuator 3" minValue="-1" maxValue="1">Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.</param>
         <param index="4" label="Actuator 4" minValue="-1" maxValue="1">Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.</param>
-        <param index="5" label="Actuator 5" minValue="-1" maxValue="1">Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.</param>
-        <param index="6" label="Actuator 6" minValue="-1" maxValue="1">Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.</param>
+        <param index="5" label="Actuator 5">Actuator 5 value.
+          If sent in COMMAND_LONG: value is scaled from [-1 to 1]. NaN to ignore.
+          If sent in COMMAND_INT or MISSION_ITEM_INT: value is scaled by 1e7. INT32_MAX to ignore.</param>
+        <param index="6" label="Actuator 6">Actuator 6 value.
+          If sent in COMMAND_LONG: value is scaled from [-1 to 1]. NaN to ignore.
+          If sent in COMMAND_INT or MISSION_ITEM_INT: value is scaled by 1e7. INT32_MAX to ignore.</param>
         <param index="7" label="Index" minValue="0" increment="1">Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)</param>
       </entry>
       <entry value="188" name="MAV_CMD_DO_RETURN_PATH_START" hasLocation="true" isDestination="false">